Rotate joint around given axis (steer car)

Hello, I have a car whose front wheel are connected to chassis in this manner : chassiswheel_front_left0 -1 0-0.52359877559829880.52359877559829880 0 1 In order to steer my car, I want to set the position around axis2 to 30 degrees. So I tried this (inside my plugin): this->joint_ = model_->GetJoint("car::wheel_front_left_steer_spin"); this->steer_pid_ = common::PID(0.1, 0, 0); this->model_->GetJointController()->SetPositionPID(joint_->GetScopedName(), steer_pid_); double position = -3.14159265 / 6; this->model_->GetJointController()->SetVelocityTarget(joint_->GetScopedName(), position); But it sends my car bouncing and jumping uncontrollably. So how do I set the angle of my wheels? I haven't found clear examples and couldn't figure it out from the doc. Thanks in advance,