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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>