scout_ros/scout_description/urdf/scout_v2.gazebo

<?xml version="1.0"?>
<robot>
    <!-- <gazebo reference="base_link">
        <material>Gazebo/Grey</material>
    </gazebo> -->

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace></robotNamespace>
        </plugin>
    </gazebo>

    <gazebo>
        <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
            <updateRate>100.0</updateRate>
            <robotNamespace></robotNamespace>
            <leftFrontJoint>front_left_wheel</leftFrontJoint>
            <rightFrontJoint>front_right_wheel</rightFrontJoint>
            <leftRearJoint>rear_left_wheel</leftRearJoint>
            <rightRearJoint>rear_right_wheel</rightRearJoint>
            <wheelSeparation>4</wheelSeparation>
            <wheelDiameter>0.32918</wheelDiameter>
            <robotBaseFrame>base_link</robotBaseFrame>
            <torque>1000</torque>
            <!-- <topicName>cmd_vel</topicName> -->
            <commandTopic>cmd_vel</commandTopic>
            <broadcastTF>1</broadcastTF>
            <odometryTopic>odom</odometryTopic>
            <odometryFrame>odom</odometryFrame>
            <covariance_x>0.000100</covariance_x>
            <covariance_y>0.000100</covariance_y>
            <covariance_yaw>0.010000</covariance_yaw>
        </plugin>
    </gazebo>

    <!-- <gazebo>
        <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
            <commandTopic>cmd_vel</commandTopic>
            <odometryTopic>odom</odometryTopic>
            <odometryFrame>odom</odometryFrame>
            <odometryRate>20.0</odometryRate>
            <robotBaseFrame>base_footprint</robotBaseFrame>
        </plugin>
    </gazebo> -->
</robot>