diffdrive_arduino/DiffDriveArduino left_wheel_joint right_wheel_joint 30 /dev/ttyUSB0 57600 1000 3436 -10 10 -10 10 gazebo_ros2_control/GazeboSystem -10 10 -10 10 $(find cps_rmp220_support)/config/my_controllers.yaml $(find cps_rmp220_support)/config/gaz_ros2_ctl_use_sim.yaml