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Vehicle Plugin 100 % Ackermann unable to simulate

I have modified the Vehicle Plugin to be a subscriber to steering joint and gas joint positions in degrees radians. I then created a publisher to provide these values in a programmatic manner. I notice that when I command a valid gas and steering value the vehicle does not execute a perfect circle. This is critical as I want to use this simulation for path planning. I tried to set a right and left steering angle as well and just provide a force to the chassis and not the wheel joints . Would appreciate it if anyone could explain why this is happening ?