I would like to create a vehicle with a trailer model in Gazebo. The hitch of the trailer is located at the center of the rear wheel axle of the vehicle, and I am using a revolute joint for the hitch. I have also installed two wheels on the trailer, with continuous wheel joints. Ideally, when the vehicle is moving forward and turning, the trajectory of the trailer should match the mathematical model of a tractor-trailer. However, what I observed in Gazebo is that the trailer becomes rigidly connected to the vehicle. When the vehicle moves forward and turns, the trailer wheels do not follow the motion, and the hitch joint seems to be rigid as well. Why is this happening? Is it not possible to achieve realistic trailer behavior in Gazebo?

Please help me understand why the trailer model in Gazebo is not exhibiting the expected behavior, where the trailer wheels should rotate and follow the vehicle's motion during forward and turning movements.