When i add diffdrivecontroller to my four wheels gazebo car models i receive this error. How can i fix that?

*[ERROR] [1646844638.668086226, 0.501000000]: Exception thrown while initializing controller 'diffdrivecontroller'. Could not find resource 'Rev15' in 'hardwareinterface::VelocityJointInterface'. [ERROR] [1646844638.668115226, 0.501000000]: Initializing controller 'diffdrivecontroller' failed [ERROR] [1646844639.670654, 1.364000]: Failed to load diffdrive_controller *