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You have to set publishWheelTF and publishWheelJointState tags to true inside differential drive controller, like this

<publishWheelTF>true</publishWheelTF>

<publishWheelJointState>true</publishWheelJointState>.

For more information you can go through gazebo__ros__diff__drive_8cpp_source.. After adding this, check whether odom is publishing properly using rviz.

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