The kobuki base by yourself would not drift, so it makes sense which the tilted inertia will cause the drift. Naturally I can hack my URDF that has a weightless superstructure, but I desired to fix this in a far more practical way. I tried all I'm able to contemplate, https://www.uk-exhibitionstands.co.uk/product/casonara-blimp-rectangle-360o-hanging-light-box-display-200m/