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I solved it by changing the .yaml file, specifically this part:

diffbot_base_controller:
  ros__parameters:
    left_wheel_names: ["left_wheel_joint"]
    right_wheel_names: ["right_wheel_joint"]

into this:

diff_drive_controller:
  ros__parameters:
    left_wheel_names: ["left_wheel_joint"]
    right_wheel_names: ["right_wheel_joint"]

The first line in that block of code was causing the problem. I declared a controller with the name diff_drive_controller but was declaring controller settings for a controller with name diffbot_base_controller.

As consequence diff_drive_controller had no configuration settings available.