ballbot-balance-control-with-opencr

opencr version:v1.4.5
ros2arduino version:v0.0.9
Maybe the odom msg has some problem, so I use the pose msg
blancecontrol ros2
Reference:https://github.com/ROBOTIS-GIT/ros2arduino
Reference:turtlebot3 burger core (ros2)
https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2
The position control has not been successed because it will be slipping.
I want to solve the problem of slipping.
Please email me if you have any suggestions.
quaei676@gmail.com
experment gif:

using ros2 turtlebot3_telop keyboard control