How to deal with slow steering system on vehicle?

[guidout]

Hello,
the machine I'm trying to deploy the TEB planner on has a very slow responsding steering system. There is a considerable delay between command and actual steering actuator movement and the movement is pretty slow.

I find TEB constantly chasing the steering due to its slow response.

How could I attempt to address this issue?

Thank you!

ps: also asked a generic quesiton here
https://answers.ros.org/question/416946/nav2-controller-tuning-for-vehicle-with-poor-steering-performance-slow-response/

[LotfiZ]

Did you feedback the actual odometry to TEB ? If yes and still have problem you need to add a constraint regarding the steering rate