Usage Documentation for libDiffDrivePlugin6W?

edit

I have seen the page covering the general hector gazebo plugins http://wiki.ros.org/hector_gazebo_plu... , however there is no usage guidance for the parameters for the diffdriveplugin6w. I have only found one or two forum posts where people show their parameters. Is there a resource somewhere for learning to use it?

At the moment I am battling to get my odom to appear in rviz. The topics are being published according to rostopic list, including '/odom', but I am unable to select it as my fixed frame. I do not know if it stems from the settings I am using in 'six_bot.gazebo' or my code in 'six_bot.urdf'. This is the section relating to the 6w plugin in the .gazebo file:

     <gazebo>
       <plugin name="DiffDrivePlugin6W" filename="libdiffdrive_plugin_6w.so">
          <legacyMode>false</legacyMode>
          <rosDebugLevel>Debug</rosDebugLevel>
          <publishWheelTF>false</publishWheelTF>
          <publishWheelJointState>true</publishWheelJointState>
          <publishOdomTF>true</publishOdomTF>
          <alwaysOn>true</alwaysOn>
          <updateRate>10.0</updateRate>
          <frontLeftJoint>left_wheel1_hinge</frontLeftJoint>
          <midLeftJoint>left_wheel2_hinge</midLeftJoint>
          <rearLeftJoint>left_wheel3_hinge</rearLeftJoint>
          <frontRightJoint>right_wheel1_hinge</frontRightJoint>
          <midRightJoint>right_wheel2_hinge</midRightJoint>
          <rearRightJoint>right_wheel3_hinge</rearRightJoint>
          <wheelSeparation>0.202</wheelSeparation>
          <wheelDiameter>0.01</wheelDiameter>
          <torque>10</torque>
          <commandTopic>cmd_vel</commandTopic>
          <odometryTopic>odom</odometryTopic>
          <odometryFrame>odom</odometryFrame>
          <odometrySource>world</odometrySource>
          <robotBaseFrame>robot_footprint</robotBaseFrame>
        </plugin>
      </gazebo>

My robot does indeed have 6 wheels. I can provide the urdf if it helps? I am using kinetic and am on Ubuntu 16.04.