Custom mobile manipulator only moving froward and backward,not steering as expected via ros2&omnigraph differential controller

[revesreveilles]

I was trying to control my robot via omnigraph and ros2,but it’s not moving when i command it turning via ros2 /cmd_vel topic.

Isaac Sim Version:

[↪] 4.1.0

my usd file is attched:
ridgeback_ur5.zip (1.7 MB)

[revesreveilles]

Updates:
Solved it by modifying the WheelDistance.
Through i haved encounter other problem,since my robot is a mobile manipulator,when i want to control my manipulator’s joint via the omnigraph from Omniverse_ros2_tutorials.

And it pops up the warring below:

I am assuming the Articulation Controller also the wheel joint,which cause the warring.So it is a way to control the specific joint.Or some doc with mobile manipulator Controller i can follow.
kit_20241118_131654.log (1.8 MB)
Thanks !

[revesreveilles]

Updates:
Solve it simply by changing the ros2 subscribe joint state’s queuesize and articulation controller 's add jointNames.Now it can receive ros2 message normally.
Still trying to figure out how to use my own controller to control the mobile manipulator.Anyone are interested in mobile manipulator outpolling,please feel free to contact me.
Thanks!