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<node pkg="diff_drive" type="diff_drive_controller" name="diff_drive_control">

to

<node pkg="diff_drive" type="diff_drive_controller" name="diff_drive_control"/>

change

<node pkg="diff_drive" type="diff_drive_controller" name="diff_drive_control">

name="diff_drive_control">

to

<node pkg="diff_drive" type="diff_drive_controller" name="diff_drive_control"/>

name="diff_drive_control"/>