I tried simulating a differential drive robot in gazebo but it behaves strangely when controlled with teleop_twist.

edit

With the forward command it moves properly but with the backward command it goes in a circle. Here is the URDF code

enter code here

<robot
  name="explorer_description">

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
  </joint>

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0 0 -0.01"
        rpy="0 0 0" />
      <mass
        value="0.4" />
      <inertia
        ixx="0.0025025"
        ixy="0.0017336"
        ixz="0.0020685"
        iyy="0.0066445"
        iyz="0.000924"
        izz="0.0062071" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="wheel_left">
    <inertial>
      <origin
        xyz="0 0.002 0"
        rpy="0 0 0" />
      <mass
        value="0.05" />
      <inertia
        ixx="2.4267E-05"
        ixy="0"
        ixz="0"
        iyy="3.24E-05"
        iyz="0"
        izz="2.4267E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/wheel_left.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/wheel_left.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="wheel_left_joint"
    type="continuous">
    <origin
      xyz="-0.056 0.0695 -0.0275"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="wheel_left" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="wheel_right">
    <inertial>
      <origin
        xyz="0 -0.002 0"
        rpy="0 0 0" />
      <mass
        value="0.05" />
      <inertia
        ixx="2.4267E-05"
        ixy="0"
        ixz="0"
        iyy="3.24E-05"
        iyz="0"
        izz="2.4267E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/wheel_right.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/wheel_right.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="wheel_right_joint"
    type="continuous">
    <origin
      xyz="-0.056 -0.0695 -0.0275"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="wheel_right" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="lidar">
    <inertial>
      <origin
        xyz="0 0 -0.02825"
        rpy="0 0 0" />
      <mass
        value="0.2" />
      <inertia
        ixx="0.00051467"
        ixy="0.00033"
        ixz="0.00029"
        iyy="0.00089093"
        iyz="0.0001914"
        izz="0.00095707" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/lidar.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://explorer_description/meshes/lidar.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="lidar_joint"
    type="fixed">
    <origin
      xyz="0 9.74576271186439E-05 0.0987"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="lidar" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link ...