Hi, I have a custom robot URDF defined and using diffdrivecontroller package to drive the robot inside the gazebo, i've also having a simulated Kinect sensor attached to the robot.

Currently I'm having issue where the ODOM in Gazebo is slower than the ODOM in RVIX and causing the fake laser scan keep drifting.

Any advice how to improve the URDF model so that Gazabo robot able to rotate and sync with the odom in RVIZ? From what i see in Gazebo, it always rotate slower than RVIZ.

I also notice that if i launch gazebo without custom world, the drift issue will not happen. However after added the custom world, the robot seem rotate slower.

Any advice?

My URDF file : https://github.com/mavencheong/vacumm_ws/blob/master/src/vacumm_description/urdf/vacumm4.xacro

and my Launch file https://github.com/mavencheong/vacumm_ws/blob/master/src/vacumm_bringup/launch/scan.launch