<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
            <legacyModeNS>true</legacyModeNS>
        </plugin>
    </gazebo>

    <transmission name="left_wheel_tranmission">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="left_wheel_joint">
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </joint>
        <actuator name="left_wheel_actuator">
            <mechanicalReduction>1.0</mechanicalReduction>
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </actuator>
    </transmission>

    <transmission name="right_wheel_tranmission">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="right_wheel_joint">
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </joint>
        <actuator name="right_wheel_actuator">
            <mechanicalReduction>1.0</mechanicalReduction>
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </actuator>
    </transmission>

</robot>