Hey guys!

So I'm working towards building a rover simulation wtih ROS/Gazebo. I'm having this odd issue that my robot model is jittery when viewed in RVIZ and I'm trying to implement the navigation stack.

even more so I'm getting weird behavior when sending navigation goals, my robot goes to the goal location but keeps moving?? It just seems to drive around without any rhyme or reason, way beyond the navigation goal I sent to it.

When I launch just my gazebo and and robot_localization files. My robot isn't shaking that much but when I zoom in its slightly shakey.

When I try to implement the navigation stack as well as amcl , things start out somewhat fine but then my robot model gets very shakey, wanders aimlessly, and the amcl does not converge.

Here is my github link: https://github.com/ji81930/ros_robotics

My urdf file: https://github.com/ji81930/ros_robotics/blob/master/urdf/dd_robot.urdf.xacro

gazebo launch file: https://github.com/ji81930/ros_robotics/blob/master/gazebo.launch

robotlocalization launch file: https://github.com/ji81930/robotlocalization/blob/master/robotlocalization/launch/ekftemplate.launch

navigation launch: https://github.com/ji81930/ros_robotics/blob/master/ros_nav.launch

amcl launch: https://github.com/ji81930/ros_robotics/blob/master/ros_nav/launch/ros_amcl_demo.launch

configuration files for navigation stack: https://github.com/ji81930/ros_robotics/tree/master/ros_nav/config

Please let me know your thoughts!!