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I found the solution. I needed to change the joint interface

   <transmission name="tran2">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="wheel_main_rotation">
         <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      </joint>
      <actuator name="motor2">
         <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
         <mechanicalReduction>1</mechanicalReduction>
      </actuator>
   </transmission>

and in the config file the controller

  steer_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: wheel_main_steer
    pid: {p: 10000.0, i: 1.0, d: 1000.0}