How to properly configure wheel links in gazebo and ros urdf to provide proper propulsion?

Hi, My question is regarding configuring the properties of wheel links and the associated joints (motors). I'm building a four wheeled differential car, and i finished my urdf seamlessly, and connected ROS_control too, everything is fine except that the wheels don't provide proper propulsion for the vehicle, so i thought that the properties might not be configured properly. I started messing around to see if i can get it working, but no luck. Gazebo/Blackfalse0.01transmission_interface/SimpleTransmissionEffortJointInterfaceEffortJointInterface1 If i move the vehicle forward or backward it works like a piece of cake, but when i try to rotate it, (differentially) the wheels start to skid and the vehicle moves in a strange manner Any one can help me with this? I'd be really grateful