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##  Files used for this demos  
  * Launch file: [ diffbot.launch.py ](https://github.com/ros-controls/ros2_control_demos/tree/humble/example_2/bringup/launch/diffbot.launch.py)
  * Controllers yaml: [ diffbot_controllers.yaml ](https://github.com/ros-controls/ros2_control_demos/tree/humble/example_2/bringup/config/diffbot_controllers.yaml)
  * URDF file: [ diffbot.urdf.xacro ](https://github.com/ros-controls/ros2_control_demos/tree/humble/example_2/description/urdf/diffbot.urdf.xacro)
    * Description: [ diffbot_description.urdf.xacro ](https://github.com/ros-controls/ros2_control_demos/tree/humble/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro)
    * ` ros2_control  ` tag: [ diffbot.ros2_control.xacro ](https://github.com/ros-controls/ros2_control_demos/tree/humble/example_2/description/ros2_control/diffbot.ros2_control.xacro)
  * RViz configuration: [ diffbot.rviz ](https://github.com/ros-controls/ros2_control_demos/tree/humble/ros2_control_demo_description/diffbot/rviz/diffbot.rviz)
  * Hardware interface plugin: [ diffbot_system.cpp ](https://github.com/ros-controls/ros2_control_demos/tree/humble/example_2/hardware/diffbot_system.cpp)
##  Controllers from this demo  
  * ` Joint  State  Broadcaster  ` ( [ ros2_controllers repository ](https://github.com/ros-controls/ros2_controllers/tree/humble/joint_state_broadcaster) ): [ doc ](https://control.ros.org/humble/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html)
  * ` Diff  Drive  Controller  ` ( [ ros2_controllers repository ](https://github.com/ros-controls/ros2_controllers/tree/humble/diff_drive_controller) ): [ doc ](https://control.ros.org/humble/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html)
[ Previous ](../../example_1/doc/userdoc.html "Example 1: RRBot") [ Next
](../../example_3/doc/userdoc.html "Example 3: Robots with multiple
interfaces")
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|  [
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|  [
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      * [ Example 11: CarlikeBot ](../../example_11/doc/userdoc.html)
      * [ Example 12: Controller chaining ](../../example_12/doc/userdoc.html)
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