correct files

diff_driver.yam

vica_robot_controller:
  type        : "diff_drive_controller/DiffDriveController"
  left_wheel  : 'l_wheel_joint'
  right_wheel : 'r_wheel_joint'
  pid: {p: 100.0, i: 0.01, d: 10.0}
  
  
  
  publish_rate: 100.0               # default: 50
  pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  
  # Wheel separation and diameter. These are both optional.
  # diff_drive_controller will attempt to read either one or both from the
  # URDF if not specified as a parameter
  wheel_separation : 0.28
  wheel_radius : 0.03
  
  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.0 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0
  
  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.5
  
   # Base frame_id
  base_frame_id: base_link #default: base_link
  
  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 0.2  # m/s
      min_velocity           : -0.2 # m/s
      has_acceleration_limits: true
      max_acceleration       : 0.05  # m/s^2
      min_acceleration       : -0.05 # m/s^2

  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 0.3  # rad/s
      has_acceleration_limits: true
      max_acceleration       : 0.1  # rad/s^2


  joint_read_state_controller:
      type: joint_state_controller/JointStateController 
      publish_rate: 100.0

  #Publish to TF directly or not
  enable_odom_tf: true

  #Name of frame to publish odometry in
  odom_frame_id: odom

  # Publish the velocity command to be executed. 
  # It is to monitor the effect of limiters on the controller input.
  publish_cmd: true

    
    

model.xacro

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

	<xacro:include
		filename="$(find vica_robot)/urdf/robot.gazebo" />
	<xacro:include
		filename="$(find vica_robot)/urdf/materials.xacro" />
	<xacro:include
		filename="$(find vica_robot)/urdf/macros.xacro" />

	<robotBaseFrame>base_link</robotBaseFrame>

	<link name="base_link">


		<visual>
			<origin rpy="0 0 0" xyz="0 0 0.01" />
			<geometry>
				<mesh scale=".0010 .0010 .0010"
					filename="package://vica_robot/meshes/base.stl" />
			</geometry>

			<material name="Yellow">
				<color rgba="1 1 0 1" />
			</material>
		</visual>


		<collision>
			<origin rpy="0 0 0" xyz="0 0 0.01" />
			<geometry>
				<mesh scale=".0010 .0010 .0010"
					filename="package://vica_robot/meshes/base.stl" />
			</geometry>
		</collision>

		<inertial>
			<mass value="5" />
			<origin xyz="0 0 0" rpy="0 0 0" />
			<inertia ixx="0.88" ixy="0" ixz="0" 
					 iyy="0.88" iyz="0" 
					 izz="0.88" />
		</inertial>

	</link>


	<!-- Roue libre devant -->

	<link name="caster_front_link">
		<visual>
			<origin xyz="0.135 0 0.0325" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.03" />
			</geometry>
		</visual>

		<collision name='caster_front_collision'>
			<origin xyz="0.135 0 0.0325" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.03" />
			</geometry>
			<surface>
				<friction>
					<ode>
						<mu>0.01</mu>
						<mu2>0.01</mu2>
						<fdir1> 0 0 0</fdir1>
						<slip1>1.0</slip1>
						<slip2>1.0</slip2>
					</ode>
				</friction>
				<bounce>
					<restitution_coefficient>0</restitution_coefficient>
					<threshold>100000</threshold>
				</bounce>
				<contact>
					<ode>
						<soft_cfm>0</soft_cfm>
						<soft_erp>0.2</soft_erp>
						<kp>1.0</kp>
						<kd>1.0</kd>
						<max_vel>1.0</max_vel>
						<min_depth>0.001</min_depth>
					</ode>
				</contact>
			</surface>
		</collision>

		<inertial>
			<mass value="0.01" />
			<inertia ixx="0.001" ixy="0.0" ixz="0.0"
                     iyy="0.001" iyz="0.0" 
					 izz="0.001" />
		</inertial>
	</link>

	<joint name="caster_front_join" type="fixed">
		<parent link="base_link" />
		<child link="caster_front_link" />
		<origin xyz="0 0 0.0001" rpy="0 0 0" />
	</joint>

	<!-- Fin Roue libre devant -->

	<!-- Roue libre arriere -->

	<link name="caster_back_link">
		<visual>
			<origin xyz="-0.135 0 0.0325" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.03" />
			</geometry>
		</visual>

		<collision name='caster_back_collision'>
			<origin xyz="-0.135 0 0.0325" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.03" />
			</geometry>
			<surface>
				<friction>
					<ode>
						<mu>0.01</mu>
						<mu2>0.01</mu2>
						<fdir1> 0 0 0</fdir1>
						<slip1>1.0</slip1>
						<slip2>1.0</slip2>
					</ode>
				</friction>
				<bounce>
					<restitution_coefficient>0</restitution_coefficient>
					<threshold>100000</threshold>
				</bounce>
				<contact>
					<ode>
						<soft_cfm>0</soft_cfm>
						<soft_erp>0.2</soft_erp>
						<kp>1.0</kp>
						<kd>1.0</kd>
						<max_vel>1.0</max_vel>
						<min_depth>0.001</min_depth>
					</ode>
				</contact>
			</surface>
		</collision>

		<inertial>
			<mass value="0.01"/>
			<inertia ixx="0.001" ixy="0.0" ixz="0.0"
               		   iyy="0.001" iyz="0.0" 
					   izz="0.001" />
		</inertial>
	</link>

	<joint name="caster_back_join" type="fixed">
		<parent link="base_link" />
		<child link="caster_back_link" />
		<origin xyz="0 0 0.0001" rpy="0 0 0" />
	</joint>

	<!-- Fin Roue libre arriere -->





	<link name="r_wheel">
		<visual>
			<origin rpy="0 1.57079632679 0" xyz="0 0 0" />
			<geometry>
				<!-- <mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/rwheel.stl" 
					/> -->
				<cylinder length="0.025" radius="0.03" />
			</geometry>

			<material name="Blue">
				<color rgba="0 1 1 1" />
			</material>
		</visual>


		<collision>
			<origin rpy="0 1.57079632679 0" xyz="0 0 0" />
			<geometry>
				<!-- <mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/rwheel.stl" 
					/> -->
				<cylinder length="0.025" radius="0.03" />
			</geometry>
			<surface>
				<friction>
					<ode>
						<mu>1.0</mu>
						<mu2>1.0</mu2>
						<slip1>0.0</slip1>
						<slip2>0.0</slip2>
					</ode>
				</friction>
				<contact>
					<ode>

					</ode>
				</contact>
			</surface>
		</collision>

		<inertial>
			<mass value="5" />
			<cylinder_inertia m="5" r="0.1" h="0.05" />
			<inertia ixx="0.89" ixy="0" ixz="0" iyy="1.0" iyz="0"
				izz="0.88" />
		</inertial>

	</link>
	<joint name="r_wheel_joint" type="continuous">
		<parent link="base_link" />
		<child link="r_wheel" />
		<origin xyz="0 -0.15 0.0325" rpy="0 0 1.57079632679" />
	</joint>

	<transmission name="r_wheel_transmission">
		<type>transmission_interface/SimpleTransmission</type>
		<joint name="r_wheel_joint">
			<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
		</joint>
		<actuator name="r_wheel_actuator">
			<mechanicalReduction>7</mechanicalReduction>
			<hardwareInterface>VelocityJointInterface</hardwareInterface>
		</actuator>
	</transmission>









	<link name="l_wheel">
		<visual>
			<origin rpy="0 1.57079632679 0" xyz="0 0 0" />
			<geometry>
				<cylinder length="0.025" radius="0.03" />
			</geometry>

			<material name="Blue">
				<color rgba="0 1 1 1" />
			</material>

		</visual>

		<collision>
			<origin rpy="0 1.57079632679 0" xyz="0 0 0" />
			<geometry>
				<cylinder length="0.025" radius="0.03" />
			</geometry>
			<surface>
				<friction>
					<ode>
						<mu>1.0</mu>
						<mu2>1.0</mu2>
						<slip1>0</slip1>
						<slip2>0</slip2>
					</ode>
				</friction>
				<contact>
					<ode>

					</ode>
				</contact>
			</surface>
		</collision>

		<inertial>
			<mass value="0.300" />
			<cylinder_inertia m="5" r="0.1" h="0.05" />
			<inertia ixx="0.88" ixy="0" ixz="0" iyy="1.0" iyz="0"
				izz="0.88" />
		</inertial>
	</link>

	<joint name="l_wheel_joint" type="continuous">
		<parent link="base_link" />
		<child link="l_wheel" />
		<origin xyz="0 0.15 0.0325" rpy="0 0 1.57079632679" />
	</joint>

	<transmission name="l_wheel_transmission">
		<type>transmission_interface/SimpleTransmission</type>
		<joint name="l_wheel_joint">
			<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
		</joint>
		<actuator name="l_wheel_actuator">
			<mechanicalReduction>7</mechanicalReduction>
			<hardwareInterface>VelocityJointInterface</hardwareInterface>
		</actuator>
	</transmission>






	<link name="kinect">
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0" />
			<geometry>
				<mesh scale=".0010 .0010 .0010"
					filename="package://vica_robot/meshes/kinect.stl" />
			</geometry>
			<material name="Red">
				<color rgba="1 0 0 1" />
			</material>
		</visual>

		<collision>
			<geometry>
				<mesh scale=".0010 .0010 .0010"
					filename="package://vica_robot/meshes/kinect.stl" />
			</geometry>
		</collision>

		<inertial>
			<mass value="0.681" />
			<inertia ixx="0.89" ixy="0" ixz="0" iyy="1.0" iyz="0"
				izz="0.89" />
		</inertial>

	</link>

	<link name="rplidar">
		<visual>
			<origin rpy="1.57079632679 0 0" xyz="0 0 -0.04" />
			<geometry>
				<mesh scale=".0010 .0010 .0010"
					filename="package://vica_robot/meshes/rplidar.stl" />
			</geometry>

			<material name="Red">
				<color rgba="1 0 0 1" />
			</material>
		</visual>


		<collision>
			<geometry>
				<mesh scale=".0010 .0010 .0010"
					filename="package://vica_robot/meshes/rplidar.stl" />
			</geometry>
		</collision>

		<inertial>
			<mass value="0.681" />
			<inertia ixx="0.89" ixy="0" ixz="0" iyy="1.0" iyz="0"
				izz="0.89" />
		</inertial>

	</link>






	<joint name="kinect_joint" type="fixed">
		<parent link="base_link" />
		<child link="kinect" />
		<origin xyz="0.055 -0.02 0.147" rpy="0 0 0" />
	</joint>

	<joint name="rplidar_joint" type="fixed">
		<parent link="base_link" />
		<child link="rplidar" />
		<origin xyz="-0.06 0.033 0.28" rpy="0 0 0" />
	</joint>




</robot>