Differential Drive robot simulation not moving according to velocity commands

edit

Hi, I have simulated my custom 2 wheeled differential drive robot in Gazebo, but while applying a velocity ( /cmd_vel) of 0.1 m/s in the forward direction, the robot moves straight but the movement is not smooth, it's erratic, there is sudden stopping of the robot, it starts shaking, and the wheels seems to be resisting the motion that it gets, then it continues its motion, and this behavior repeats very often during its movement. How do I rectify this behavior? Any extra information regarding my robot model or controller is required, feel free to ask, I will update immediately.