After adding the differential drive plugin, we need to join state publishers to the existing launch file, or we can build a new one. You can see the new final launch file, diff_wheeled_gazebo_full.launc , in diff_wheeled_robot_gazebo/launch.
The launch file contains joint state publishers, which help to visualize in RViz. Here are the extra lines added in this launch file for the joint state publishing:
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <!-- start robot state publisher --> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" > <param name="publish_frequency" type="double" ...
