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First, be sure to place your robot on blocks before continuing your testing with ROS since without encoders, the robot could move VERY fast depending on your settings. Next, I noticed your encoder_resolution is set quite small (20) in your config file. (The value I use for Polulu 131:1 gear motors with integrated encoders is 8384.) This value is used to compute wheel speed in encoder ticks per second so with a value as low as 20, you will have to use higher velocity values in your Twist command to get the robot to move. So instead of a z: value of 0.5, try 1.0, then 5.0, 10.0, etc. until you get the robot to move.