Regarding the complete controller, I used ROS’s cmd_vel to control Kaya’s forward and backward movements and found that there was also a problem with its movement. It would deviate from the straight line after driving for a period of time. Look at the output of the controller to see the numerical values of Kaya’s left and right wheels when moving forward and backward. The last few differences lead to deviations. Is this a bug? @mgussert
