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) 
 Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
 For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<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 xyz="0.28763 -0.35 0.16708" rpy="0 0 0" />
<parent link="Zafir_Body" />
<child link="FR_Wheel" />
<axis xyz="0 1 0" />
<limit effort="20" velocity="10" />
</joint>
<link name="RL_Wheel">
<inertial>
  <origin xyz="-0.000102 0.000122 -0.000072" rpy="0 0 0" />
  <mass value="102.21" />
  <inertia ixx="0.930782" ixy="-0.365575" ixz="0.000217" iyy="0.930782" iyz="-0.000168" izz="1.000000" />
</inertial>
<visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/RL_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/RL_Wheel.STL" />
  </geometry>
</collision>
</link>
<joint name="RL_Wheel_Rotation_Axis" type="continuous">
<origin xyz="-0.28763 0.35 0.16708" rpy="0 0 0" />
<parent link="Zafir_Body" />
<child link="RL_Wheel" />
<axis xyz="0 1 0" />
<limit effort="20" velocity="10" />
</joint>
<link name="RR_Wheel">
<inertial>
  <origin xyz="-0.000104 0.000124 -0.000072" rpy="0 0 0" />
  <mass value="102.21" />
  <inertia ixx="0.928109" ixy="0.372307" ixz="0.000833" iyy="0.928110" iyz="-0.000027" izz="1.000000" />
</inertial>
<visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
    <mesh filename="package://zafirurdftemplate/meshes/RR_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/RR_Wheel.STL" />
  </geometry>
</collision>
</link>
<joint name="RR_Wheel_Rotation_Axis" type="continuous">
<origin xyz="-0.28763 -0.35 0.16708" rpy="0 0 0" />
<parent link="Zafir_Body" />
<child link="RR_Wheel" />
<axis xyz="0 1 0" />
<limit effort="20" velocity="10" />
</joint>
<transmission name="trans_FL_Wheel_Rotation_Axis">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_Wheel_Rotation_Axis">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="FL_Wheel_Rotation_Axis_motor">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_FR_Wheel_Rotation_Axis">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_Wheel_Rotation_Axis">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="FR_Wheel_Rotation_Axis_motor">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_RL_Wheel_Rotation_Axis">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_Wheel_Rotation_Axis">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="RL_Wheel_Rotation_Axis_motor">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_RR_Wheel_Rotation_Axis">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_Wheel_Rotation_Axis">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="RR_Wheel_Rotation_Axis_motor">
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  <robotNamespace>/</robotNamespace>
</plugin>

control.launch

<launch>

<!-- <arg name="enable_ekf" default="$(optenv ENABLE_EKF true)"/> -->

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="true"/>
</include>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find zafirurdftemplate)/config/diff.yaml" command="load"/>

<param name="robot_description" command="cat $(find zafirurdftemplate)/urdf/zafirurdftemplate.urdf"/>

<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" respawn= "false" output="screen"
    args="-urdf -model zafirurdftemplate -param robot_description -z 0.0"/>

<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="zafir_joint_publisher zafir_velocity_controller"/>

<!-- <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" output="screen">
    <param name="link_name" value="Zafir_Body" />
  </node> -->

  <!-- <group if="$(arg enable_ekf)" >
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
      <rosparam command="load" file="$(find zafirurdftemplate)/config/localization.yaml" />
    </node>
  </group>   -->

<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/zafirurdftemplate/joint_states" />

diff.yaml

 zafir_joint_publisher:
   type: "joint_state_controller/JointStateController"
   publish_rate: 50

  zafir_velocity_controller:
   type: "diff_drive_controller/DiffDriveController"
   left_wheel: ['FL_Wheel_Rotation_Axis', 'RL_Wheel_Rotation_Axis']
   right_wheel: ['FR_Wheel_Rotation_Axis', 'RR_Wheel_Rotation_Axis']
   publish_rate: 50
   pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
   twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
   cmd_vel_timeout: 0.25
   velocity_rolling_window_size: 2

  # Base frame_id
  base_frame_id: Zafir_Body

  # Odometry fused with IMU is published by robot_localization, so
  # no need to publish a TF based on encoders alone.
  enable_odom_tf: false

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.875 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
   x:
   has_velocity_limits    : true
   max_velocity           : 1.0   # m/s
   has_acceleration_limits: true
   max_acceleration       : 3.0   # m/s^2
  angular:
   z:
   has_velocity_limits    : true
   max_velocity           : 2.0   # rad/s
   has_acceleration_limits: true
   max_acceleration       : 6.0   # rad/s^2