This is a GitHub repository created following the tutorial present in this link up to lesson 3.
The goal of this code is creating your own urdf specifying links and joints. Having a launch file which open up Gazebo, spawn the robot you created and create the node "robot_descriptor". Use the gazebo plugin diff_driv to transform velocity command coming from /cmd_velinto transformation of the robot’s wheels published into the topic /tf.
Be sure to have gazebo plugins installed:
sudo apt install ros-humble-gazebo-plugins