There are errors：gazebo_ros_pkgs/gazebo_plugins/src /gazebo_ros_tricycle_drive.cpp

[hhhbyhhh]

// if steering_speed_ is > 0, use speed control, otherwise use position control
// With position control, one cannot expect dynamics to work correctly.
double diff_angle = current_angle - target_angle;
if ( steering_speed_ > 0 ) {
  // this means we will steer using steering speed
  double applied_steering_speed = 0;
  if (fabs(diff_angle) < steering_angle_tolerance_ ) {
    // we're withing angle tolerance
    applied_steering_speed = 0;
  } else if ( diff_angle < target_speed ) {
    // steer toward target angle
    applied_steering_speed = steering_speed_;
  } else {
    // steer toward target angle
    applied_steering_speed = -steering_speed_;
  }

On line 328 “diff_angle < target_speed” caused some bugs