The kobuki base by itself isn't going to drift, so it is smart the tilted inertia causes the drift. Of course I can hack my URDF having a weightless superstructure, but I wished to correct this in a far more sensible way. I tried all I am able to consider, https://www.uk-exhibitionstands.co.uk/product/standard-square-blimp-tower-with-tapered-tube-blimp/