Any solution for the simulation of the free-rolling caster wheels

[MokhtarBaWahal]

I am facing the same issue described in the read me:

"Since the free-rolling caster wheels are particularly difficult to simulate accurately, we've temporarily replaced them with a single, frictionless sphere on a tightly constrained spring joint, called caster_center_manual_config."

I created the same object in my project, it solved the balancing problem but still when trying to move the Turtlebot in a straight line it turns slightly right.

When checking the SlamExample project I found the same issue.

anyone know how to solve this problem?