I am trying to get a Linorobot ROS based robot to behave correctly. Like the Ubiquity robot I chose to have two rotating cart-style casters (vs. the usual omnidirectional ball casters.)
When I go from going forward to turning in place, or from turning left to turning right, the two casters take a moment before they turn to orient consistent with the direction of turn, and as a result they “steer” the robot in the wrong way. And, as a result the odometry is totally wrong.
Have you at Ubiquity seen the same thing? Did you have to customize the kinematics to accommodate this? Or if not how do you deal with that scenario?