Gazebo: Turtlebot dont drive straight forward/ Odometry wheel velocity

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Hello Guys,

I have encountered the problem that my Turtlebot didn't drive really straight and he also have some problems with the rotation. After a short period the robot loose the straight path and he drifts away more and more. I use the turtlebot from the turtlebot package in gazebo.

I create a Twist msgs: self.cmd_vel = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10) and then i set a linear speed: move_cmd = Twist() move_cmd.linear.x = 0.1 move_cmd.angular.z = 0

Is there a way to drive straight with no deviation?

How can i publish the wheel velocity of my turtlebot maybe the wheels have a different velocity?