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I figured the error. The error has to do with a syntax error in the xacro file. It should be:
<transmission name = "joint_left_wheel_trans">
<type> transmission_interface/SimpleTransmission </type>
<joint name = "joint_left_wheel">
<hardwareInterface> hardware_interface/EffortJointInterface </hardwareInterface>
</joint>
<actuator name = "joint_left_wheel_motor">
<hardwareInterface> hardware_interface/EffortJointInterface </hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>