ROS2 URDF Gazebo Sensor

Differential Drive Controller

<gazebo>
    <plugin name="bytes_diff_drive" filename="libgazebo_ros_diff_drive.so">

      <ros>
        <!-- <namespace>/br</namespace> -->
      </ros>

      <update_rate>30</update_rate>

      <!-- wheels -->
      <left_joint>left_wheel_joint</left_joint>
      <right_joint>right_wheel_joint</right_joint>

      <!-- kinematics -->
      <wheel_separation>${base_length + 2*wheel_base_separation}</wheel_separation>
      <wheel_diameter>${2*wheel_radius}</wheel_diameter>

      <!-- limits -->
      <max_wheel_torque>20</max_wheel_torque>
      <max_wheel_acceleration>1.0</max_wheel_acceleration>

      <command_topic>cmd_vel</command_topic>

      <!-- output -->
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>false</publish_wheel_tf>

      <odometry_topic>odom</odometry_topic>
      <odometry_frame>odom</odometry_frame>
      <robot_base_frame>base_link</robot_base_frame>

    </plugin>
</gazebo>