Inaccurate Base Velocity Control

[oym1994]

Hi, Thanks for this good job!

When I run this robot by keyboard teleoperation, I have found that the Base Velocity Control is inaccurate. For example, when I give the speed for just moving forward, the calculated speed for each wheel seems correct(left wheel -3000, back wheel 0, right wheel 3000), but the state has oblivious gap(left wheel -2350, back wheel 0, right wheel 3050), which results unexpected rotation. It seems that the motor velocity control is not good enough.

My questions are:
1、 Is this problem very common?
2、Am I missing some necessary steps?
3、How to solve it?

Thanks for any good suggestions!!!