test.world

<?xml version="1.0"?>
<sdf version="1.4">
  <world name="default">

    <!-- Ground Plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://pioneer2dx</uri>
      <plugin name="DiffDrive" filename="build/libDiffDrive.so">
        <left_joint>pioneer2dx::left_wheel_hinge</left_joint>
        <right_joint>pioneer2dx::right_wheel_hinge</right_joint>
        <torque>5</torque>
      </plugin>
    </include>
  </world>
</sdf>