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For future questions about Gazebo (robot modelling, physics setup), please ask them on

gezebosim

. ROS Answers is about ROS, and we try to stay on topic as much as possible.

you may look at https://github.com/qboticslabs/mastering_ros/blob/master/chapter_2_codes/mastering_ros_robot_description_pkg/urdf/diff_wheeled_robot.urdf