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I got rid of

<gazebo reference="${prefix}_drive_wheel_link">
<mu1 value="100.0" />
<mu2 value="100.0" />
<kp value="10000.0" />
<kd value="1.0" />
<!-- <fdir1 value="1 0 0" /> -->
<material>Gazebo/Grey</material>
<!-- <minDepth>0.001</minDepth> -->
</gazebo>

and it worked!