<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
    <ros2_control name="GazeboSystem" type="system">
        <hardware>
            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
        </hardware>
        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-0.5</param>
                <param name="max">0.5</param>
            </command_interface>
            <state_interface name="position" />
            <state_interface name="velocity" />
        </joint>
        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-0.5</param>
                <param name="max">0.5</param>
            </command_interface>
            <state_interface name="velocity" />
            <state_interface name="position" />
        </joint>
    </ros2_control>
    <gazebo>
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
        <parameters>$(find dcaiti_control)/config/dcaiti_config.yml</parameters>
        <parameters>$(find dcaiti_control)/config/gaz_ros2_ctl_sim.yml</parameters>
    </plugin>
</gazebo>
</robot>