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Hello again, I can't upload the code but I've done some tests with R2D2 robot skid base of the tutorials and the result is the following.

http://www.youtube.com/watch?v=idhdCtDTlgs

As you can see, the elongated base with thin wheels robot behaves like in my case. In the second case (from the second 20), the robot rotates as expected and want for my robot. The efforts in both cases were the same.

I assumed it would be a problem in my previous robot code, but seeing this makes me wonder. Obviously, the real robot don't perform these decreases in speed when it rotates on itself. This is a bug in the simulator? I configured some parameter wrong?

Thanks for reading, any help is welcome.