How to simulate the Pionner 3dX with gazebo in a reliable way? [closed]

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We have a Pioneer 3Dx and we are interfacing with it by using ROSARIA.

Is there a way for simulating the behavior of the robot with Gazebo in a reliable way?

I tried to launch the simulator package provided by p2os. I also modified the xacro file and the launch file as reported here.

However I still have two problems:

1. When I roslaunch the launch file it returns the following error: ERROR: cannot launch node of type [gazebo_plugins/gazebo_ros_diffdrive]: can't locate node [gazebo_ros_diffdrive] in package [gazebo_plugins] (however the simulator starts)
2. The simulated robot is unstable. The caster wheel continuously revolves randomly and when I impose a velocity grater than 0.1 the robot starts bouncing. Could be this problem due to the fact that the launch file doesn't load a world and so the robot is "flying"?

How can I fix this problem and simulate the pioneer in a reliable way?

I'm not locked with ROSARIA as far as another driver still provide me a similar interface.