Gazebo Classic to Gazebo Ignition Diff Drive Conversion

Hi everyone,

I’m currently following some ros2 tutorials for simulating a diff drive robot in Gazebo Classic. I’m using Gazebo Ignition and unfortunately the definitions aren’t interchangeable.

Just in case anyone else hits the same issue, this is the definition I ended up using instead:

            <!-- Wheel info: -->

            <!-- Limits -->

            <!-- Output -->



The following links were pretty helpful when it came to tracking down the differences:


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