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

    <gazebo reference="left_wheel">
        <mu1>1.0</mu1>
        <mu2>1.0</mu2>
        <fdir1>0 0 1</fdir1>
        <minDepth>0.005</minDepth>
        <kp>1e8</kp>
    </gazebo>

    <gazebo reference="right_wheel">
        <mu1>1.0</mu1>
        <mu2>1.0</mu2>
        <fdir1>0 0 1</fdir1>
        <minDepth>0.005</minDepth>
        <kp>1e8</kp>
    </gazebo>

    <gazebo reference="caster_wheel">
        <mu1>0.0</mu1>
        <mu2>0.0</mu2>
        <minDepth>0.005</minDepth>
        <kp>1e8</kp>
    </gazebo>
    
    
    <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_transmission">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="left_wheel_joint">
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </joint>
        <actuator name="left_wheel_actuator">
            <mechanicalReduction>1</mechanicalReduction>
            <hardwareInterface>VelocityJointInterface</hardwareInterface>
        </actuator>
    </transmission>

    <transmission name="right_wheel_transmission">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="right_wheel_joint">
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </joint>
        <actuator name="right_wheel_actuator">
            <mechanicalReduction>1</mechanicalReduction>
            <hardwareInterface>VelocityJointInterface</hardwareInterface>
        </actuator>
    </transmission> -->

</robot>