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This corrected itself. I was driving the unit backwards and didn't know it. When I changed from the small (test) robot to the large one, the motor connections happened to be reversed, so it went correctly. The steering in reverse with joystick is a little strange, the caster portion of robot moves the direction of the joystick but the base motion is the other way as you drive. This would be just a matter of choice, I suppose, that the creators of diff_drive decided. It isn't a problem now, since I expect to spend little time driving in reverse.