Hi everyone. I have designed a robot model in Solidworks.

I exported urdf file using sw2urdf tool and tried to use it in Gazebo. I have a problem with caster wheel. When I move it in forward direction robot is bouncing also keyboard commands don't work in correct way(using differential drive plugin+teleoptwistkeyboard) Video. When I press I button robot is going turning instead of going forward. You can access all the files here .