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-update rate -> frequency in (Hz) of publishing by the plugin
-leftJoint -> specify the name of the joint connecting left wheel of your differential drive robot to the chassis
-wheelSeparation -> distance between the 2 wheels in a diff drive robot -commandTopic ->name of the
-topic on which you can publish the linear and angular velocity of the robot
-odometryTopic -> Topic on which you can subscribe to the
-odometry data. robotNameSpace -> (generally the name of the robot... i am not sure)

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