Problem with wheel position at startup

The inverse kinematic uses the target values for the actual values of wheel angle and velocity. There is no exchange of the real values. This is also due to the fact that the real values cannot be read during idle, as all CAN values are nan... (in addition: strong noise when they are read) The inverse kinematic therefore always starts with the wheel angles 0. As soon as a twist input (!= 0) appears, it adjusts the actual value to the target value. With the 1.5m track width, the starting angle should be +/-PI, but it only controls the value from 0 to PI slowly. The starting value is therefore rotated by almost 180° and the drive tries to reach this value as quickly as possible. Hence the deflections.