Hi, I have a robot that requires a revolute joint connecting the body to the wheels to roll passively. Currently, the wheels either slide on the surface or stick, depending on the friction parameters, but the joint never moves. This leads me to believe that this is a joint issue. This is what the urdf joint looks like:

And the wheel friction parameters: 10 10 0 Gazebo/DarkGrey 0.005 0.0001

Note: the wheels have a position controller implemented, but when it is time for the wheels to roll passively, the controller is switched off, so I do not believe this to be the issue.