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HI All.. I have managed to resolve the issue.. (at least i think)

What i had implemented was ros node with some code i found in the tutorial

  v = data.linear.x
  steering = convert_trans_rot_vel_to_steering_angle(v, data.angular.z, wheelbase)

  msg = AckermannDriveStamped()
  msg.header.stamp = rospy.Time.now()
  msg.header.frame_id = frame_id
  msg.drive.steering_angle = steering
  msg.drive.speed = v

  pub.publish(msg)

I simply added

if v > 0:
    steering = steering * -1

just to reverse the angle to the servo when travelling in reverse. I dont know if this is the correct way to resolve the issue.. certainly does not feel right.. But since i have made the change, the robot is working very well. Reaching all the goal posses i give it "in real life"

thanks