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The erratic_description package is a good and complete example for a moving mobile base using the DiffDrivePlugin as a gazebo controller. Especially in urdf/erratic_base.xacro you can see how to use the plugin in your urdf model.

To see a running example run:

roslaunch erratic_description erratic_empty_world.launch

This starts gazebo and spawns the erratic model. Then run

rosrun erratic_teleop erratic_keyboard_teleop

You can now move the robot using the keys WASD.

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