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Figured it out .

For the next weary soul: Turns out, for the diff drive controller, if you set it to base_footprint, it'll do some weird conversion or interpolation (?) and give you both X and Y components of a non-holonomic robot base.

Edit: Lies, it still happens. Something TF related?

Figured it out .

For the next weary soul: Turns out, for the diff drive controller, if you set it to base_footprint, it'll do some weird conversion or interpolation (?) and give you both X and Y components of a non-holonomic robot base. base.