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1
可以试试调整yaml文件，我之前遇到这个问题时，试着减小了yaml文件中的PID参数，并且去掉了gazebo_ros_control部分的PID增益配置，只保留控制器配置，仿真时轮子就正常了，不再集中在原点
2
请问现在这个问题有解决吗