Rotation error and strange behavior in Gazebo simulation

Hi all, I wrote a basic URDF model for a robot with two wheels at the back and one caster wheel at the front. Then, I am using "turtlesim teleop" to control the robot using the keyboard. But the robot is not behaving as expected while turning and going in reverse, please see the video attached. While turning, the motion is not smooth whereas while reversing, it is behaving really strange. I have tried changing the values of different parameters (including friction, etc.) but with no success. In the video, the robot first goes straight, then turns right, then turns left, then goes straight and then reverse. The link to the video: https://www.youtube.com/watch?v=JOSOXImbLBo&feature=youtu.be The relevant code: drsim.xacro macros.xacro Gazebo/Blacktransmission_interface/SimpleTransmissionEffortJointInterfaceEffortJointInterface10 drsim.gazebo /drsimtrue50left_wheel_hingeright_wheel_hinge${chassisWidth+wheelWidth}${2*wheelRadius}20/cmd_vel/odomodombase_linkGazebo/Orange00Gazebo/Red Any guidance will be appreciated. Thanks in advance. Naman Kumar