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

    <!-- <gazebo>
        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <updateRate>15</updateRate>
            <leftJoint>wheel_left_joint</leftJoint>
            <rightJoint>wheel_right_joint</rightJoint>
            <wheelSeparation>0.3</wheelSeparation>
            <wheelDiameter>0.065</wheelDiameter>
            <wheelAcceleration>0.0</wheelAcceleration>
            <wheelTorque>5</wheelTorque>
            <commandTopic>cmd_vel</commandTopic>
            <odometryTopic>odom</odometryTopic>
            <odometryFrame>odom</odometryFrame>
            <robotBaseFrame>base_footprint</robotBaseFrame>
            <odometrySource>1</odometrySource>
            <publishwheelTF>true</publishwheelTF> 
            <publishOdom>true</publishOdom>
            <publishWheelJointState>true</publishWheelJointState>
            <legacyMode>false</legacyMode>
        </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>