Skid_steer_drive_controller don't move joints - ros

Question

Hello I have found a problem when I try to use gazebo skid_steer_drive_controller. The controller did not publish wheel tf and will not respond when I try to send cmd_vel. Rviz says error where no transform from [link_left_wheel_front] to [odom]. But what is most important that the robot in Gazebo isn't moving. I don't know where it could be problem. Maybe in the plugin setting, but when I was looking and comparing with different codes, it looks ok to me.
Main URDF
The trabot.sensors.urdf.xacro are only cameras and lidar.
<?xml version="1.0"?>
<!-- link has always reference on [0,0,0] you can define visual to it-->
<!-- the joint will move child from parent with entered origin-->
<robot name="my_robot" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find trabot_description)/urdf/trabot.sensors.urdf.xacro"/>
<xacro:property name="width" value="0.25"/>
<xacro:property name="bodylen" value="0.38"/>
<xacro:property name="hight" value="0.09"/>
<xacro:property name="wheel_pitch" value="0.175"/>
<xacro:property name="wheel_length" value="0.053975"/>
<xacro:property name="wheel_radius" value="0.0575"/>
<xacro:property name="wheel_separation" value="0.175"/>
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://trabot_description/meshes/base.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="-${width/2} -${bodylen/2} -${hight/2}"/>
</visual>
<collision>
<geometry>
<box size="${width} ${bodylen} ${hight}"/>
</geometry>
</collision>
<inertial>
<mass value="1.204"/>
<inertia ixx="0.01768" ixy="0.0" ixz="-0.0" iyy="0.00949" iyz="-0.0" izz="0.02069"/>
</inertial>
</link>
<xacro:macro name="wheel" params="prefix postfix frontback reflect">
<link name="link_${prefix}_wheel_${postfix}">
<visual>
<geometry>
<mesh filename="package://trabot_description/meshes/wheel.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 ${reflect*pi/2}" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
</geometry>
<origin rpy="0 ${pi/2} 0" xyz="${reflect*(wheel_radius/2)} 0 0"/>
</collision>
<inertial>
<mass value="0.254"/>
<inertia ixx="0.000427228" ixy="0.0" ixz="0.0" iyy="0.0002708487" iyz="0.0" izz="0.0002708487"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="joint_${prefix}_${postfix}_wheel" type="continuous">
<parent link="base_link"/>
<child link="link_${prefix}_wheel_${postfix}"/>
<origin xyz="${(width/2+0.0001)*reflect} ${(wheel_pitch/2)*frontback} -0.0175"/>
<axis xyz="1 0 0"/>
<limit effort="10000" velocity="1000"/>
<joint_properties damping="1.0" friction="1.0"/>
</joint>
<!-- This block provides the simulator (Gazebo) with information on a few additional
physical properties. See http://gazebosim.org/tutorials/?tut=ros_urdf for more-->
<gazebo reference="link_${prefix}_wheel_${postfix}">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.00</minDepth>
</gazebo>
<transmission name="tran_${prefix}_${postfix}_wheel">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="actuator_${prefix}_${postfix}_wheel">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</actuator>
<joint name="joint_${prefix}_${postfix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
<xacro:wheel prefix="left" postfix="front" frontback="1" reflect="1"/>
<xacro:wheel prefix="left" postfix="rear" frontback="-1" reflect="1"/>
<xacro:wheel prefix="right" postfix="front" frontback="1" reflect="-1"/>
<xacro:wheel prefix="right" postfix="rear" frontback="-1" reflect="-1"/>
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace>/</robotNamespace>
<leftFrontJoint>joint_left_front_wheel</leftFrontJoint>
<rightFrontJoint>joint_right_front_wheel</rightFrontJoint>
<leftRearJoint>joint_left_rear_wheel</leftRearJoint>
<rightRearJoint>joint_right_rear_wheel</rightRearJoint>
<wheelSeparation>0.175</wheelSeparation>
<wheelDiameter>0.115</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame>
<torque>200</torque>
<MaxForce>5.0</MaxForce>
<topicName>trabot/cmd_vel</topicName>
<odometryTopic>trabot/odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<broadcastTF>true</broadcastTF>
</plugin>
</gazebo>
<!-- Gazebo plugin for ROS Control -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>
Launch file
<?xml version="1.0" encoding="UTF-8" ?>
<launch>
<arg name="gui" default="true"/>
<arg name="pause" default="false"/>
<arg name="world" default="$(find trabot_gazebo)/world/default.world"/>
<arg name="robot_urdf" default="$(find trabot_description)/urdf/trabot.urdf.xacro"/>
<arg name="rviz_config" default="$(find trabot_gazebo)/config/rviz_v.0.2.rviz"/>
<param name="robot_description" command="xacro '$(arg robot_urdf)'" />
<!-- world launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<arg name="paused" value="$(arg pause)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="recording" value="false"/>
<arg name="debug" value="false"/>
</include>
<!-- Spawn my robot -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -z 1 -model trabot"/>
<!-- Start tf of robot -->
<!-- Manual control of joints - joint state pub-->
<!--<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>
-->
<!--creates transformation tree from robot_description param-->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" />
<!-- rviz -->
<node pkg="rviz" type="rviz" name="rob_rviz" args="-d $(arg rviz_config)" required="true"/>
<node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
<param name="default_topic" value="/trabot/cmd_vel"/>
</node>
</launch>

Answer 1

So definitely the problem, was in my not understanding in what I was doing. After few days and teaching myself ROS Control properly I found out the problem was in launch file.