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I believe it's the same issue in this question:
https://answers.ros.org/question/313899/banana-rotates-by-itself-in-gazebo-i-dont-know-why/
I was facing the same issue with my PAL Robotics' TIAGO simulation. All I had to do was increase the wheels' mass by 10 and its inertia matrix values by 100 in the URDF files. Now there is virtually no drift of this kind.
Beware however that if you drastically increase the mass of, e.g., the base, the links that connect it to the wheels may collapse, since they were designed to handle a much lighter load. That's why I think the wheels are the safest component to alter because they normally won't rest over any fragile component.
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