[Question] Effort controllers grouped (drive chain)?

[GrantDare]

Hi,

I am using the effort_controllers/JointVelocityController to drive a 6 wheel in simulation. Torque is very important for the simulated response of the robot. I have 2 motors driving a center axle where front and rear on each side are driven from a drive chain (equal gear ratio). I was wondering how I could use these controllers to replicate that?

I have implemented one per joint (where the respective command goes to all 3 joints) however I am seeing that, for example, in a turn, the rear right wheel will receive maximum torque where the other 2 RHS do not. On my actual robot all 3 will receive the same (or close to).