How to turn the orientation of the Jackal Robot?

Hello everybody, We are using the Jackal robot from clearpath robotics for a project. **We want to turn the default moving direction of the robot to the opposite.** So the old forward direction should then be backwards. How can we achieve this? We tried several things, but they did not work out. *Approach 1:* We tried to change the base_link_joint of the urdf-model around 180°. After the turn of a coordinate frame around yaw=180°, the robot model behaves different in Rviz and Gazebo. If the model in Gazebo moves forward, the model in Rviz moves backwards. The original urdf-model can be found on https://github.com/jackal/jackal/blob/indigo-devel/jackal_description/urdf/jackal.urdf.xacro *Approach 2:* Turn the direction of cmd_vel. We changed the sign of the x-value of cmd_vel to move in the opposite direction. This leads to the correct movements in Gazebo and Rviz, but the robot moves in the opposite direction of the goal (which is understandable). We also tried the modifications on the real robot, but the problems were the same. Thank you for your help! Greetings, mr