diffdrive_plugin_6w usage?

[GrantDare]

Hi team,

I am attempting to simulate a 6-wheeled robot in gazebo and am looking to use your plugin. Could you please supply me an example usage for a .urdf.xacro description? I have scoured and cannot find an up to date (or actually even any on the 6w plugin) example to draw from.

Here is my attempt?

  <gazebo>
    <plugin name="6w_diff_drive" filename="libdiffdrive_plugin_6w.so">
      <publishWheelTF>true</publishWheelTF>
      <publishWheelJointState>true</publishWheelJointState>
      <alwaysOn>true</alwaysOn>
      <frontLeftJoint>front_left_wheel</frontLeftJoint>
      <frontRightJoint>front_right_wheel</frontRightJoint>
      <midLeftJoint>center_left_wheel</midLeftJoint>
      <midRightJoint>center_right_wheel</midRightJoint>
      <rearLeftJoint>rear_left_wheel</rearLeftJoint>
      <rearRightJoint>rear_right_wheel</rearRightJoint>
      <wheelSeperation>1.57</wheelSeperation>
      <wheelDiameter>${wheel_radius*2}</wheelDiameter>
      <wheelTorque>14.9</wheelTorque>
      <wheelAcceleration>1.8</wheelAcceleration>
      <commandTopic>/cmd_vel</commandTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryTopic>/odom</odometryTopic>
      <odometrySource>world</odometrySource>
      <robotBaseFrame>base_link</robotBaseFrame>
      <updateRate>25</updateRate>
    </plugin>
  </gazebo>

The implementation runs and I can control the robot linearly but can't enact any angular velocity on the system.

Thanks, Grant