<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffdrive_robot">

  <xacro:arg name="prefix" default="" />

  <xacro:include filename="$(find cps_loki_description)/urdf/diffbot_description.urdf.xacro" />

  <xacro:include filename="$(find cps_loki_description)/urdf/diffbot.materials.xacro" />

  <xacro:include filename="$(find cps_loki_description)/urdf/odrive.ros2_control.xacro" />

  <xacro:diffbot prefix="$(arg prefix)" />

  <xacro:odrive_ros2_control
    name="ODriveDiffBot"
    joint0_name="$(arg prefix)left_wheel_joint"
    joint1_name="$(arg prefix)right_wheel_joint" />

</robot>