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I checked your repository, noticed that when sending the command to turn right it does so in rviz, but turns left in gazebo.

That is because the wheels are turning in the wrong direction, both wireframe mode in gazebo and tf in rviz do show that. To fix that you need to rotate both wheels by 180 degree.

Removing the minus sign of rpy in your model.urdf.xacro, line 102 should do that:

<origin xyz="0 ${reflect*(base_wid/2)} ${-1*base_height}" rpy="${-pi/2} 0 0"/>