Choosing the right coefficients for Gazebo simulation

edit

and wheels:

I have created the URDF and a differential drive plugin for gazebo to simulate the model but I have no idea how to choose appropriate values for torque, mu1, mu2, kp, kd and inertia matrix. The values that I am currently using are taken/combined from the erratic/guardian/turtlebot stacks.

By publishing the odometry (calculated in the plugin) and comparing the robot's position in Gazebo and RViz I can see that the model slips a lot while performing turns.

Relevant files: myrobot.urdf.xacro myrobot_constants.xacro myrobot_wheel.xacro myrobot_materials.xacro

Any help is appreciated.

Thanks in advance.

Update:

Here is the output from Solidworks for the chassis:

Output  coordinate System: -- default --

Mass = 489.90 grams

Volume = 181445.50 cubic millimeters

Surface area = 189380.73 millimeters^2

Center of mass: ( millimeters )
       X = 41.53
       Y = 93.76
       Z = 131.23

Principal axes of inertia and principal moments of inertia: ( grams *
square millimeters )
Taken at the center of mass.
        Ix = (0.00, 0.01, 1.00)        Px = 4157521.05
        Iy = (1.00, 0.00, 0.00)        Py = 5704820.80
        Iz = (0.00, 1.00, -0.01)       Pz = 9356042.65

Moments of inertia: ( grams * square millimeters )
Taken at the center of mass and aligned with the output coordinate system.
       Lxx = 5704820.80        Lxy = 0.00      Lxz = -0.00
       Lyx = 0.00      Lyy = 9355391.53        Lyz = 58176.21
       Lzx = -0.00     Lzy = 58176.21  Lzz = 4158172.18

Moments of inertia: ( grams * square millimeters )
Taken at the output coordinate system.
       Ixx = 18448329.91       Ixy = 1907623.47        Ixz = 2669963.78
       Iyx = 1907623.47        Iyy = 18637105.26       Iyz = 6086030.51
       Izx = 2669963.78        Izy = 6086030.51        Izz = 9309884.18

And here is how I've put it in URDF:

<link name="base_link">
    <inertial>
        <mass value="${chassis_mass}" />
        <origin xyz="0.04153 0.09376 0.13123" />
        <inertia ixx="0.00415752105" ixy="0.0" ixz="0.0"
                 iyy="0.0057048208" iyz="0.0"
                 izz="0.00935604265" />
    </inertial>

Is this correct? I guess this is only correct if my model has the coordinate system aligned with the representation from Gazebo, right?