I have built a 2 wheel robot and I have been trying for hours to put a correct caster wheel on it. I followed the logic of this [code](https://github.com/qboticslabs/mastering_ros/blob/master/chapter_2_codes/mastering_ros_robot_description_pkg/urdf/diff_wheeled_robot.urdf) in which a sphere with a fixed joint is used and I managed to make it work (or I thought so) until I commanded my robot to move. The movement was totally wrong. With the fixed joint sphere, the robot was bumping like crazy. Is there another way to create a caster wheel ?
Thanks for answering and for your time in advance.
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