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The URDF, Xacro, and Launch files used in this tutorial are given here (fee is required): https://ko-fi.com/s/babbe77114

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In this Robot Operating System 2 (ROS2) and Gazebo tutorial, we explain how to model, simulate, and control a differential drive robot from scratch in ROS2 and Gazebo. We provide a detailed tutorial on how to write Unified Robot Description Format -URDF, Xacro, Gazebo, and launch files that are necessary to simulate and control the robot. We also explain how to control the robot by sending the keyboard commands in real time.