sim with small drift

src/sherpa/config/ackermann_controller.yaml

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+
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    ackermann_controller:
+      type: ackermann_steering_controller/AckermannSteeringController
+  
+    joint_state_broadcaster:
+        type: "joint_state_broadcaster/JointStateBroadcaster"
+
+
+ackermann_controller:  
+  ros__parameters:
+    position_feedback: false
+
+    # Interfaces
+    rear_wheels_names: ["wheel_bl_joint", "wheel_br_joint"]
+    front_wheels_names:  ["steer_fl_joint", "steer_fr_joint"]
+
+    # Physical parameters
+    wheelbase: 0.6                # Distance between front and rear axles [m]
+    front_wheel_track: 0.4        # Distance between front wheels [m]
+    rear_wheel_track: 0.5         # Distance between rear wheels [m]
+    front_wheels_radius: 0.15  # Radius of wheels [m]
+    rear_wheels_radius: 0.15  # Radius of wheels [m]
+
+    # Limits
+    max_steering_angle: 0.785  # [rad] ~45 degrees
+    max_speed: 10.0            # [m/s]
+    min_speed: -5.0            # [m/s]
+
+    # Frame config
+    reference_frame: base_link