DiffDriveController in Gazebo Ros control

edit

Hi! I set up a sim via rviz & gazebo firstly using gazebo diff drive plug in. then I noticed some limits using this model and I attempted to switch to gazebo_ros_control diff_drive_controller. the robot spawns and visualizes in gazebo but when in rviz I try to command via joystick or setting a 2d goal nothing happens.

What is wrong? Am i missing something? Are the two libraries substitutes or do they complement each other?

Launch file

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <param name="/use_sim_time" value="true" />
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find nav-sim)/urdf/gbot.urdf.xacro" />
  <node pkg="rviz" type="rviz" name="rviz" output="screen"/>



  <node pkg="robot_state_publisher" name="robot_state_publisher"  type="robot_state_publisher" />

  <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" />

    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>

<!--  <include file="$(find nav-sim)/launch/gbot_control_teleop.launch" />-->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
   <arg name="world_name" value="$(find nav-sim)/launch/complicated_world_tagged" />
   <arg name="debug" value="false" />
    <arg name="gui" value="true" />
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="verbose" value="true"/>
  </include>
  <node name="spawn_robot_urdf" pkg="gazebo_ros" type="spawn_model" output="screen"
        args="-urdf -param robot_description -model gbot.urdf.xacro -x $(arg x) -y $(arg y) -z $(arg z)" >
  </node>

  <rosparam file="$(find nav-sim)/config/gconfig.yaml" command="load" />
    <node name="spawner" pkg="controller_manager" type="spawner"
          respawn="false" output="screen" args= "mobile_base_controller" />

</launch>

Plug in

    <?xml version="1.0"?>
<robot>
  <gazebo reference="base_link">
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>

<!--  <gazebo reference="base_link">-->
<!--    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">-->
<!--      <alwaysOn>true</alwaysOn>-->
<!--      <legacyMode>false</legacyMode>-->
<!--      <updateRate>20</updateRate>-->
<!--      <leftJoint>left_wheel_joint</leftJoint>-->
<!--      <rightJoint>right_wheel_joint</rightJoint>-->
<!--      <wheelSeparation>${wheel_separation}</wheelSeparation>-->
<!--      <wheelDiameter>${wheel_radius * 2}</wheelDiameter>-->
<!--      <torque>20</torque>-->
<!--      <commandTopic>/twist_mux/cmd_vel</commandTopic>-->
<!--      <odometryTopic>/odom_in</odometryTopic>-->
<!--      <odometryFrame>odom</odometryFrame>-->
<!--      <robotBaseFrame>base_link</robotBaseFrame>-->
<!--      <publishWheelTF>false</publishWheelTF>-->
<!--      <publishWheelJointState>false</publishWheelJointState>-->
<!--      <odometrySource>world</odometrySource> &lt;!&ndash; 'encoder' instead of 'world' is also possible &ndash;&gt;-->
<!--      <publishTf>1</publishTf>-->
<!--    </plugin>-->
<!--  </gazebo>-->
  <!-- hokuyo -->
  <gazebo reference="laser_frame_HF">
    <sensor type="ray" name="head_hokuyo_sensor_front">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1800</samples>
            <resolution>0.2</resolution>
            <min_angle>-3.14</min_angle>
            <max_angle>3.14</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.40</min>
          <max>10.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the ...