4 wheel controller not working

[AEDEN169]

Hi Josh. Your videos have been so helpful. I used your repository to make a 4 wheeled robot but the ros2_control plugin isn’t working well. My robot moves in a crazy manner when I run the launch file in gazebo. Do you know how I can make it work for 4 wheels instead of two?

[0RBalaji]

You have to edit the gazebo_control.xacro file to make it a four wheel control enable.
The snippent of the code would be
`.......

         <num_wheel_pairs>2</num_wheel_pairs>
        <left_joint>rear_left_wheel_joint</left_joint>
        <right_joint>rear_right_wheel_joint</right_joint>
        <left_joint>front_left_wheel_joint</left_joint>
        <right_joint>front_right_wheel_joint</right_joint>

.......
`
Mention to the launch file that you have 4 wheels.
This still makes the robot a differential drive type.