# Revision history [back]

### Robot base slowly drifting

After spawning my robot and without sending any Twist commands, I noticed that it slowly drifts. I checked the /gazebo/model_states topic and noticed that the twist of my base is not zero

linear:
x: 0.000147341651406
y: 1.44766752077e-05
z: 9.3220339335e-09
angular:
x: 7.15641334542e-09
y: 1.36163145416e-08
z: 0.000712493893403


Those are small values but integrated over a long time tend to make my robot change position. This is a big problem because I am working with laser scans and doing line detection iterated many times, which leads to line coefficients changing a lot in few seconds. I tried changing the friction of the wheels but it doesn't seem to help. How can I force the robot to stand still?

I am using a differential drive defined as follows:

  toru2_diff_drive_controller:
type        : "diff_drive_controller/DiffDriveController"
left_wheel  : 'toru2_left_axle'
right_wheel : 'toru2_right_axle'
publish_rate: 50.0               # default: 50
pose_covariance_diagonal : [0.0001, 0.000001, 1000000.0,
1000000.0, 1000000.0, 0.0005]
twist_covariance_diagonal: [0.0001, 0.000001, 1000000.0,
1000000.0, 1000000.0, 0.0005]

# Wheel separation and diameter. These are both optional.
# diff_drive_controller will attempt to read either one or both from the
# URDF if not specified as a parameter
wheel_separation : 0.512