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Hi, I think the error could be coming because of missing gazebo plugin. Adding this should solve your issue -

<gazebo> <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so"> <jointname>left_wheel,right_wheel</jointname> </plugin> </gazebo>

Hi, I think the error could be coming because of missing gazebo plugin. Adding this should solve your issue -

<gazebo>
        <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
            <jointname>left_wheel,right_wheel</jointname>
<jointName>left_wheel,right_wheel</jointName>
        </plugin>
</gazebo>
</gazebo>