is this a stable code?

[Arvrairobo]

Hello, i am in very much need of a help as i am using this same code, my robot is moving, working fine but the thing is

i am making a real robot and it is almost done but few things

it is going straight perfectly and match with rviz but as soon as it is turning, it is not making sharp turn but it does long turn which is not as per the path in rviz, hence never reaching to a goal.
Could you please help or if you have any idea, what wrong i am doing? that would be great.

ticks per meter and base_width is also perfect.

awaiting for your response.