My 4 wheel robot won't turn left or right

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Hello everyone, I'm trying to move my own robot but it only does it forward and backward. It doesn't turn left or right. I tried to sample from Husky and Jackal robot but failed. I have a lot of questions in my mind such as do I need to use PID and what are the kp kd values. I would appreciate your answers, thank you.

urdf file

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
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<robot name="zafirurdftemplate">
<link name="Zafir_Body">
<inertial>
  <origin xyz="0.000160 0.000256 0.000327" rpy="0 0 0" />
  <mass value="3.3058" />
  <inertia ixx="0.999999" ixy="-0.001114" ixz="-0.000092" iyy="0.999992" iyz="-0.003944" izz="0.999992" />
</inertial>
<visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/Zafir_Body.STL" />
  </geometry>
  <material name="">
    <color rgba="0.89412 0.91373 0.92941 1" />
  </material>
</visual>
<collision>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/Zafir_Body_Col.STL" />
  </geometry>
</collision>
  </link>
  <link name="FL_Wheel">
  <inertial>
  <origin xyz="-0.000102 0.000122 -0.000072" rpy="0 0 0" />
  <mass value="102.21" />
  <inertia ixx="0.931445" ixy="0.363881" ixz="-0.000820" iyy="0.931445" iyz="0.00027" izz="1.000000" />
</inertial>
<visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/FL_Wheel.STL" />
  </geometry>
  <material name="">
    <color rgba="0.29412 0.29412 0.29412 1" />
  </material>
</visual>
<collision>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/FL_Wheel.STL" />
  </geometry>
</collision>
</link>
<joint name="FL_Wheel_Rotation_Axis" type="continuous">
<origin xyz="0.28763 0.35 0.16708" rpy="0 0 0" />
<parent link="Zafir_Body" />
<child link="FL_Wheel" />
<axis xyz="0 1 0" />
<limit effort="20" velocity="10" />
</joint>
 <link name="FR_Wheel">
<inertial>
  <origin xyz="-0.000103 0.000123 -0.000072" rpy="0 0 0" />
  <mass value="102.21" />
  <inertia ixx="0.929756" ixy="-0.368176" ixz="-0.000711" iyy="0.929756" iyz="0.000027" izz="1.000000" />
</inertial>
<visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/FR_Wheel.STL" />
  </geometry>
  <material name="">
    <color rgba="0.29412 0.29412 0.29412 1" />
  </material>
</visual>
<collision>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/FR_Wheel.STL" />
  </geometry>
</collision>
</link>
<joint name="FR_Wheel_Rotation_Axis" type="continuous">
<origin ...