터틀봇3 버거 모터 속도 다름

[pyujin]

ros2 humble, Ubuntu 22.04 사용 중입니다.
터틀봇3 버거를 사용하여 slam을 진행하였는데 teleop 상에서 속도가 0.1 정도까지는 잘 직진하지만 그 이상으로 속도를 증가시키면 한쪽 방향으로 휘어집니다. (직진 신호만 보냈음에도 불구하고)
이런 현상은 어떻게 해결할 수 있는지 궁금합니다.

I am using ROS2 Humble and Ubuntu 22.04. When performing SLAM with a TurtleBot3 Burger, the robot moves straight at a speed of up to about 0.1. However, if the speed is increased beyond this, the robot veers to one side (even though I am sending a straight signal). How can this issue be resolved?

[toukairinn]

In my tests, if the floor surface on which the turtlebot3 is running is smooth, the position will not shift when teleop is used.

Please try to avoid places where the wheels tend to spin easily, such as carpets, and try SLAM.

I teleoped at 0.05m/s. Here is an arrow showing the odometry movement at that time.