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Hi John, first thanks for answering.

From 0:16 second of the video, the robot starts to rotate on itself. I do this by applying forces to the joints of the wheels, for example, positive to the right side (both rear and front wheel) and negative to the left side. The problem is, as you can see, the movement is not continuous, it slows down as they aligned with the axis of coordinates of the world (or so it seems).

The expected behavior was to rotate on itself without those little slow down. The physical model of the R2D2 URDF tutorials behaves correctly by applying the same efforts to the wheels.

I would like to point out that there isn't a controller problem. I get the same result with teleoperating with the robot and using pairs of forces with a script that launches the rosservice apply_joint_effort as I indicated.

Now I can't upload the code, but I do it tomorrow.