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It looks to me like the differential drive kinematic properties specified in the Gazebo plugin parameters (wheelSeparation and wheelDiameter) could be different from the actual values of the simulated robot model.

I would look at the URDF model of the robot and make sure that the actual wheel radius and separation distance match what you're putting in to the plugin. If they are different, the plugin will compute incorrect wheel speed commands, which would result in the discrepancy you're experiencing.

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