Fix vacuum

Author: javizqh

CustomRobots/roomba_robot/models/roombaROS/model.sdf

@@ -445,28 +445,16 @@
       <child>laser</child>
     </joint>
 
-    <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
-      <left_joint>left_wheel_joint</left_joint>
-      <right_joint>right_wheel_joint</right_joint>
-      <wheel_separation>0.5380</wheel_separation>
-      <wheel_radius>0.1205</wheel_radius>
+    <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
       <topic>/roombaROS/cmd_vel</topic>
-      <odom_topic>/roombaROS/odom</odom_topic>
-      <frame_id>odom</frame_id>
-      <odom_publisher_frequency>20.0</odom_publisher_frequency>
-      <child_frame_id>base</child_frame_id>
     </plugin>
 
-    <plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
-      <publish_link_pose>true</publish_link_pose>
-      <publish_sensor_pose>true</publish_sensor_pose>
-      <publish_collision_pose>false</publish_collision_pose>
-      <publish_visual_pose>false</publish_visual_pose>
-      <publish_nested_model_pose>true</publish_nested_model_pose>
-      <publish_model_pose>false</publish_model_pose>
-      <use_pose_vector_msg>true</use_pose_vector_msg>
-      <static_publisher>true</static_publisher>
-      <static_update_frequency>100</static_update_frequency>
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>odom</odom_frame>
+      <robot_base_frame>base</robot_base_frame>
+      <odom_publish_frequency>20.0</odom_publish_frequency>
+      <odom_topic>/roombaROS/odom</odom_topic>
+      <dimensions>3</dimensions>
     </plugin>
 
   </model>