The robot jerks when moving backward or turning

[tien-vv]

Robot Model

Turtlebot4 Standard

ROS distro

Jazzy

Networking Configuration

Simple Discovery

OS

Ubuntu 24.04

Built from source or installed?

Installed

Package version

I'm not sure

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

I expect the robot to be able to move backward.
I also expect the robot to turn smoothly.

Actual behaviour

Moving backward
The robot frequently stops and the light turns orange. I also found a closed issue related to this behavior at issue#600. Based on that discussion, my understanding is that the robot may not support moving backward. Could you please confirm whether this is correct?

Turning around
Sometimes the robot jerks when I try to turn left or right, as shown in this video: LINK. Can you help me with this issue?

Error messages

To Reproduce

Moving backward
2. I accessed the Create3 web server.
3. Opened Application > Configuration
4. Changed safety_override from "none" to "full"
5. Save and restart the application

Turning around
Please refer to my description in Actual behaviour

Other notes

No response