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As a quick comment: RViz is not a simulator. It only visualises incoming data streams. From your question text it appears you are expecting your car to "move" relative to its starting position, based on time * velocity. That will not work, as again, RViz is not a simulator. It merely visualises (kinematic) state.
You should probably take a look at Gazebo, V-REP or Webots if you're looking to simulate car-like behaviour based on physics.
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As a quick comment:
RViz is not a simulator. It only visualises incoming data streams. From your question text it appears you are expecting your car to "move" relative to its starting position, based onIt supposed to send the joint state of my two wheels to RVIZ, and in RVIZ, I supposed to see my car moving with the set speed coming from python side.
time * velocity. That will not work, as again, RViz is not a simulator. It merely visualises (kinematic) state. Objects are rendered by RViz with their origins at the origins of the associated TF frames (ie: Cartesian position). It would be possible to make your model "move", by writing a node that integrates velocity and updates the transform based on that, but it would still only be a visualisation (ie: not based on any real dynamics simulation).
You should probably take a look at Gazebo, V-REP or Webots if you're looking to simulate car-like behaviour based on physics.
Additionally: you appear to be using JointState messages for control purposes. As the name implies, JointState encodes state. It is not meant to be used for controlling something.
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