Reference: [1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/ [2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/ [3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/ [4] https://www.youtube.com/watch?v=fuRAv6PDwdw $(arg robot_namespace)