<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
    <ros2_control name="GazeboSimSystem" type="system">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="rear_right_wheel_joint">
            <command_interface name="velocity"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
        <joint name="rear_left_wheel_joint">
            <command_interface name="velocity"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
        <joint name="front_left_steer_joint">
            <command_interface name="position"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
        <joint name="front_right_steer_joint">
            <command_interface name="position"/>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </joint>
    </ros2_control>
    <gazebo>
    <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
        <parameters>$(find dcaiti_control)/config/dcaiti_config.yml</parameters>
        <parameters>$(find dcaiti_control)/config/gaz_ros2_ctl_sim.yml</parameters>
    </plugin>
</gazebo>
</robot>