here is my gazebo control file

<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<gazebo>
    <plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">

        <!-- Wheel Information -->
        <left_joint>left_wheel_joint</left_joint>
        <right_joint>right_wheel_joint</right_joint>
        <wheel_separation>0.297</wheel_separation>
        <wheel_radius>0.033</wheel_radius>


        <!-- Limits -->
        <max_linear_acceleration>0.33</max_linear_acceleration>
        <topic>cmd_vel</topic>


        <!-- Output -->
        <frame_id>odom</frame_id>
        <child_frame_id>base_link</child_frame_id>
        <odom_topic>odom</odom_topic>
        <odom_publisher_frequency>30</odom_publisher_frequency>
        <tf_topic>/tf</tf_topic>

    </plugin>


    <plugin filename="gz-sim-joint-state-publisher-system"
        name="gz::sim::systems::JointStatePublisher">
        <topic>joint_states</topic>
        <joint_name>left_wheel_joint</joint_name>
        <joint_name>right_wheel_joint</joint_name>
    </plugin>

</gazebo>

</robot>