diff_drive_controller only drives straight, no turning

I'm testing out a two wheeled robot I designed and put in gazebo. I also have a static back wheel with very little friction that is only there for structural support. When I give linear x commands the bot drives forward and backward, however any angular z commands are completely ignored and the robot does nothing. My files are as follows: rover_control.yaml: rover: # Publish all joint states ----------------------------------- joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 mobile_base_controller: type: "diff_drive_controller/DiffDriveController" left_wheel: 'motor_wheel_left' right_wheel: 'motor_wheel_right' publish_rate: 50.0 pose_covariance_diagonal : [0.001, .001, 1000000., 1000000., 1000000., 1000.] twist_covariance_diagonal: [0.001, .001, 1000000., 1000000., 1000000., 1000.] wheel_radius : 0.0508 rover_control.launch rover_description.urdf 500.0500.011Gazebo/Black500.0500.011Gazebo/Black505011Gazebo/Blacktrue50.0/rovertransmission_interface/SimpleTransmissionhardware_interface/VelocityJointInterfaceVelocityJointInterface7transmission_interface/SimpleTransmissionhardware_interface/VelocityJointInterfaceVelocityJointInterface7