Summit XL does not move in the desired path in Gazebo.

[Eswar1991]

We are trying to move the summit xl in circular path in gazebo. However, the robot does not move in the desired path in gazebo; contrarily rviz shows that circular motion is achieved. The following gif files shows the inputs and outputs for this motion:
Input: Linear velocity and radius

Output:

We presume that the differential drive plugin of summit xl is not configured properly in gazebo.
Any help on this issue would be appreciated. Thank you
Link to gif file: https://lh3.googleusercontent.com/-CcvBoE5k4Q4/XuCFzD51-HI/AAAAAAAAAyY/qx6PJK7ddeoefovxrRAWztAZPb7iiOzxACK8BGAsYHg/s0/2020-06-10.gif

[jgomezgadea]

Hi @Eswar1991 ,

We are having a lot of problems with gazebo physics, we also have this one when we disable the planar plugin.

To correct that, we are not using the physics (the default option). Our purpose of the simulation is to test different algorithms that can work using the cmd_vel topic and odometry, so we don't need the physics.

Gazebo 9 improves a little bit that physics, but it is not enough to use the simulation correctly.

Sorry for the inconvenience.