Boost angular power

[Russ Hall]

What is the best way to boost the turning power of the diff drive controller without also boosting the linear power? My tracked and skid-steer robots control well on a smooth floor but on carpet or (outdoors) on grass need much more turning power applied to motors. I found that just increasing the angular topic in cmd_vel didn't do it. I have a motor controller that can do it automatically, but this doesn't work with ROS.