diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
index 7f5a56c64..88c338f23 100644
--- a/gazebo_plugins/CMakeLists.txt
+++ b/gazebo_plugins/CMakeLists.txt
@@ -186,6 +186,22 @@ ament_target_dependencies(gazebo_ros_ft_sensor
 )
 ament_export_libraries(gazebo_ros_ft_sensor)
 
+# gazebo_ros_ackermann_drive
+add_library(gazebo_ros_ackermann_drive SHARED
+  src/gazebo_ros_ackermann_drive.cpp
+)
+ament_target_dependencies(gazebo_ros_ackermann_drive
+  "gazebo_dev"
+  "gazebo_ros"
+  "geometry_msgs"
+  "nav_msgs"
+  "rclcpp"
+  "tf2"
+  "tf2_geometry_msgs"
+  "tf2_ros"
+)
+ament_export_libraries(gazebo_ros_ackermann_drive)
+
 # gazebo_ros_elevator
 add_library(gazebo_ros_elevator SHARED
   src/gazebo_ros_elevator.cpp
@@ -218,6 +234,7 @@ install(DIRECTORY include/
         DESTINATION include)
 
 install(TARGETS
+    gazebo_ros_ackermann_drive
     gazebo_ros_camera
     gazebo_ros_diff_drive
     gazebo_ros_elevator
diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ackermann_drive.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ackermann_drive.hpp
new file mode 100644
index 000000000..4d1c90d4f
--- /dev/null
+++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ackermann_drive.hpp
@@ -0,0 +1,103 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_
+#define GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_
+
+#include <gazebo/common/Plugin.hh>
+
+#include <memory>
+
+namespace gazebo_plugins
+{
+class GazeboRosAckermannDrivePrivate;
+
+/// A ackermann drive plugin for car like robots. Subscribes to geometry_msgs/twist
+
+/**
+  Example Usage:
+  \code{.xml}
+    <plugin name="gazebo_ros_ackermann_drive" filename="libgazebo_ros_ackermann_drive.so">
+
+      <ros>
+        <namespace>demo</namespace>
+        <argument>cmd_vel:=cmd_demo</argument>
+        <argument>odom:=odom_demo</argument>
+        <argument>distance:=distance_demo</argument>
+      </ros>
+
+      <update_rate>100.0</update_rate>
+
+      <!-- wheels -->
+      <front_left_joint>front_left_wheel_joint</front_left_joint>
+      <front_right_joint>front_right_wheel_joint</front_right_joint>
+      <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
+      <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
+      <left_steering_joint>front_left_steer_joint</left_steering_joint>
+      <right_steering_joint>front_right_steer_joint</right_steering_joint>
+      <steering_wheel_joint>steering_joint</steering_wheel_joint>
+
+      <!-- Max absolute steer angle for tyre in radians-->
+      <!-- Any cmd_vel angular z greater than this would be capped -->
+      <max_steer>0.6458</max_steer>
+
+      <!-- Max absolute steering angle of steering wheel -->
+      <max_steering_angle>7.85</max_steering_angle>
+
+      <!-- Max absolute linear speed in m/s -->
+      <max_speed>20</max_speed>
+
+      <!-- PID tuning -->
+      <left_steering_pid_gain>1500 0 1</left_steering_pid_gain>
+      <left_steering_i_range>0 0</left_steering_i_range>
+      <right_steering_pid_gain>1500 0 1</right_steering_pid_gain>
+      <right_steering_i_range>0 0</right_steering_i_range>
+      <linear_velocity_pid_gain>1000 0 1</linear_velocity_pid_gain>
+      <linear_velocity_i_range>0 0</linear_velocity_i_range>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>true</publish_wheel_tf>
+      <publish_distance>true</publish_distance>
+
+      <odometry_frame>odom_demo</odometry_frame>
+      <robot_base_frame>chassis</robot_base_frame>
+
+    </plugin>
+  \endcode
+*/
+class GazeboRosAckermannDrive : public gazebo::ModelPlugin
+{
+public:
+  /// Constructor
+  GazeboRosAckermannDrive();
+
+  /// Destructor
+  ~GazeboRosAckermannDrive();
+
+protected:
+  // Documentation inherited
+  void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+
+  // Documentation inherited
+  void Reset() override;
+
+private:
+  /// Private data pointer
+  std::unique_ptr<GazeboRosAckermannDrivePrivate> impl_;
+};
+}  // namespace gazebo_plugins
+
+#endif  // GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_
diff --git a/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp b/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp
new file mode 100644
index 000000000..99e8cbcc0
--- /dev/null
+++ b/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp
@@ -0,0 +1,596 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gazebo/common/Time.hh>
+#include <gazebo/common/PID.hh>
+#include <gazebo/physics/Joint.hh>
+#include <gazebo/physics/Link.hh>
+#include <gazebo/physics/Model.hh>
+#include <gazebo/physics/World.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo_plugins/gazebo_ros_ackermann_drive.hpp>
+#include <gazebo_ros/conversions/builtin_interfaces.hpp>
+#include <gazebo_ros/conversions/geometry_msgs.hpp>
+#include <gazebo_ros/node.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <std_msgs/msg/float32.hpp>
+#include <sdf/sdf.hh>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace gazebo_plugins
+{
+class GazeboRosAckermannDrivePrivate
+{
+public:
+  /// Indicates which joint
+  enum
+  {
+    /// Front right wheel
+    FRONT_RIGHT,
+
+    /// Front left wheel
+    FRONT_LEFT,
+
+    /// Rear right wheel
+    REAR_RIGHT,
+
+    /// Rear left wheel
+    REAR_LEFT,
+
+    /// Right steering
+    STEER_RIGHT,
+
+    /// Left steering
+    STEER_LEFT,
+
+    /// Steering wheel
+    STEER_WHEEL
+  };
+
+  /// Callback to be called at every simulation iteration.
+  /// \param[in] _info Updated simulation info.
+  void OnUpdate(const gazebo::common::UpdateInfo & _info);
+
+  /// Callback when a velocity command is received.
+  /// \param[in] _msg Twist command message.
+  void OnCmdVel(geometry_msgs::msg::Twist::SharedPtr _msg);
+
+  /// Extracts radius of a cylinder or sphere collision shape
+  /// \param[in] _coll Pointer to collision
+  /// \return If the collision shape is valid, return radius
+  /// \return If the collision shape is invalid, return 0
+  double CollisionRadius(const gazebo::physics::CollisionPtr & _coll);
+
+  /// Update odometry according to world
+  void UpdateOdometryWorld();
+
+  /// Publish odometry transforms
+  /// \param[in] _current_time Current simulation time
+  void PublishOdometryTf(const gazebo::common::Time & _current_time);
+
+  /// Publish trasforms for the wheels
+  /// \param[in] _current_time Current simulation time
+  void PublishWheelsTf(const gazebo::common::Time & _current_time);
+
+  /// Publish odometry messages
+  /// \param[in] _current_time Current simulation time
+  void PublishOdometryMsg(const gazebo::common::Time & _current_time);
+
+  /// A pointer to the GazeboROS node.
+  gazebo_ros::Node::SharedPtr ros_node_;
+
+  /// Subscriber to command velocities
+  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
+
+  /// Odometry publisher
+  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odometry_pub_;
+
+  /// Distance publisher
+  rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr distance_pub_;
+
+  /// Connection to event called at every world iteration.
+  gazebo::event::ConnectionPtr update_connection_;
+
+  /// Pointers to wheel joints.
+  std::vector<gazebo::physics::JointPtr> joints_;
+
+  /// Pointer to model.
+  gazebo::physics::ModelPtr model_;
+
+  /// Distance between the wheels, in meters.
+  double wheel_separation_;
+
+  /// Distance between front and rear axles, in meters.
+  double wheel_base_;
+
+  /// Radius of rear wheels, in meters.
+  double wheel_radius_;
+
+  /// Angle ratio between the steering wheel and the front wheels
+  double steering_ratio_ = 0;
+
+  // Max steering angle
+  double max_speed_ = 0;
+
+  // Max steering angle of tyre
+  double max_steer_ = 0;
+
+  /// To broadcast TFs
+  std::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster_;
+
+  /// Protect variables accessed on callbacks.
+  std::mutex lock_;
+
+  /// Linear velocity in X received on command (m/s).
+  double target_linear_{0.0};
+
+  /// Angular velocity in Z received on command (rad/s).
+  double target_rot_{0.0};
+
+  /// Update period in seconds.
+  double update_period_;
+
+  /// Last update time.
+  gazebo::common::Time last_update_time_;
+
+  /// Odometry frame ID
+  std::string odometry_frame_;
+
+  /// Keep latest odometry message
+  nav_msgs::msg::Odometry odom_;
+
+  /// Keep latest distance message
+  std_msgs::msg::Float32 distance_;
+
+  /// Robot base frame ID
+  std::string robot_base_frame_;
+
+  /// True to publish odometry messages.
+  bool publish_odom_;
+
+  /// True to publish distance travelled
+  bool publish_distance_;
+
+  /// True to publish wheel-to-base transforms.
+  bool publish_wheel_tf_;
+
+  /// True to publish odom-to-world transforms.
+  bool publish_odom_tf_;
+
+  /// Covariance in odometry
+  double covariance_[3];
+
+  /// PID control for left steering control
+  gazebo::common::PID pid_left_steering_;
+
+  /// PID control for right steering control
+  gazebo::common::PID pid_right_steering_;
+
+  /// PID control for linear velocity control
+  gazebo::common::PID pid_linear_vel_;
+};
+
+GazeboRosAckermannDrive::GazeboRosAckermannDrive()
+: impl_(std::make_unique<GazeboRosAckermannDrivePrivate>())
+{
+}
+
+GazeboRosAckermannDrive::~GazeboRosAckermannDrive()
+{
+}
+
+void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  impl_->model_ = _model;
+
+  auto world = impl_->model_->GetWorld();
+  auto physicsEngine = world->Physics();
+  physicsEngine->SetParam("friction_model", std::string("cone_model"));
+
+  // Initialize ROS node
+  impl_->ros_node_ = gazebo_ros::Node::Get(_sdf);
+
+  impl_->joints_.resize(7);
+
+  auto steering_wheel_joint =
+    _sdf->Get<std::string>("steering_wheel_joint", "steering_wheel_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_WHEEL] =
+    _model->GetJoint(steering_wheel_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_WHEEL]) {
+    RCLCPP_WARN(impl_->ros_node_->get_logger(),
+      "Steering wheel joint [%s] not found.", steering_wheel_joint.c_str());
+    impl_->joints_.resize(6);
+  }
+
+  auto front_right_joint = _sdf->Get<std::string>("front_right_joint", "front_right_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT] = _model->GetJoint(front_right_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT]) {
+    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      "Front right wheel joint [%s] not found, plugin will not work.", front_right_joint.c_str());
+    impl_->ros_node_.reset();
+    return;
+  }
+
+  auto front_left_joint = _sdf->Get<std::string>("front_left_joint", "front_left_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT] = _model->GetJoint(front_left_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT]) {
+    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      "Front left wheel joint [%s] not found, plugin will not work.", front_left_joint.c_str());
+    impl_->ros_node_.reset();
+    return;
+  }
+
+  auto rear_right_joint = _sdf->Get<std::string>("rear_right_joint", "rear_right_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT] = _model->GetJoint(rear_right_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]) {
+    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      "Rear right wheel joint [%s] not found, plugin will not work.", rear_right_joint.c_str());
+    impl_->ros_node_.reset();
+    return;
+  }
+
+  auto rear_left_joint = _sdf->Get<std::string>("rear_left_joint", "rear_left_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT] = _model->GetJoint(rear_left_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT]) {
+    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      "Rear left wheel joint [%s] not found, plugin will not work.", rear_left_joint.c_str());
+    impl_->ros_node_.reset();
+    return;
+  }
+
+  auto right_steering_joint =
+    _sdf->Get<std::string>("right_steering_joint", "right_steering_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_RIGHT] =
+    _model->GetJoint(right_steering_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_RIGHT]) {
+    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      "Right wheel steering joint [%s] not found, plugin will not work.",
+      right_steering_joint.c_str());
+    impl_->ros_node_.reset();
+    return;
+  }
+
+  auto left_steering_joint =
+    _sdf->Get<std::string>("left_steering_joint", "left_steering_joint").first;
+  impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_LEFT] =
+    _model->GetJoint(left_steering_joint);
+  if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_LEFT]) {
+    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      "Left wheel steering joint [%s] not found, plugin will not work.",
+      left_steering_joint.c_str());
+    impl_->ros_node_.reset();
+    return;
+  }
+
+  impl_->max_speed_ = _sdf->Get<double>("max_speed", 20.0).first;
+  impl_->max_steer_ = _sdf->Get<double>("max_steer", 0.6).first;
+
+  // Max the steering wheel can rotate
+  auto max_steering_angle = _sdf->Get<double>("max_steering_angle", 7.85).first;
+
+  // Compute the angle ratio between the steering wheel and the tires
+  impl_->steering_ratio_ = impl_->max_steer_ / max_steering_angle;
+
+  auto pid = _sdf->Get<ignition::math::Vector3d>(
+    "right_steering_pid_gain", ignition::math::Vector3d::Zero).first;
+  auto i_range = _sdf->Get<ignition::math::Vector2d>(
+    "right_steering_i_range", ignition::math::Vector2d::Zero).first;
+  impl_->pid_right_steering_.Init(pid.X(), pid.Y(), pid.Z(), i_range.Y(), i_range.X());
+
+  pid = _sdf->Get<ignition::math::Vector3d>(
+    "left_steering_pid_gain", ignition::math::Vector3d::Zero).first;
+  i_range = _sdf->Get<ignition::math::Vector2d>(
+    "left_steering_i_range", ignition::math::Vector2d::Zero).first;
+  impl_->pid_left_steering_.Init(pid.X(), pid.Y(), pid.Z(), i_range.Y(), i_range.X());
+
+  pid = _sdf->Get<ignition::math::Vector3d>(
+    "linear_velocity_pid_gain", ignition::math::Vector3d::Zero).first;
+  i_range = _sdf->Get<ignition::math::Vector2d>(
+    "linear_velocity_i_range", ignition::math::Vector2d::Zero).first;
+  impl_->pid_linear_vel_.Init(pid.X(), pid.Y(), pid.Z(), i_range.Y(), i_range.X());
+
+  // Update wheel radiu for wheel from SDF collision objects
+  // assumes that wheel link is child of joint (and not parent of joint)
+  // assumes that wheel link has only one collision
+  // assumes all wheel of both rear wheels of same radii
+  unsigned int id = 0;
+  impl_->wheel_radius_ = impl_->CollisionRadius(
+    impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]->GetChild()->GetCollision(id));
+
+  // Compute wheel_base, front wheel separation, and rear wheel separation
+  // first compute the positions of the 4 wheel centers
+  // again assumes wheel link is child of joint and has only one collision
+  auto front_right_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT]->
+    GetChild()->GetCollision(id)->WorldPose().Pos();
+  auto front_left_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT]->
+    GetChild()->GetCollision(id)->WorldPose().Pos();
+  auto rear_right_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]->
+    GetChild()->GetCollision(id)->WorldPose().Pos();
+  auto rear_left_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT]->
+    GetChild()->GetCollision(id)->WorldPose().Pos();
+
+  auto distance = front_left_center_pos - front_right_center_pos;
+  impl_->wheel_separation_ = distance.Length();
+
+  // to compute wheelbase, first position of axle centers are computed
+  auto front_axle_pos = (front_left_center_pos + front_right_center_pos) / 2;
+  auto rear_axle_pos = (rear_left_center_pos + rear_right_center_pos) / 2;
+  // then the wheelbase is the distance between the axle centers
+  distance = front_axle_pos - rear_axle_pos;
+  impl_->wheel_base_ = distance.Length();
+
+  // Update rate
+  auto update_rate = _sdf->Get<double>("update_rate", 100.0).first;
+  if (update_rate > 0.0) {
+    impl_->update_period_ = 1.0 / update_rate;
+  } else {
+    impl_->update_period_ = 0.0;
+  }
+  impl_->last_update_time_ = _model->GetWorld()->SimTime();
+
+  impl_->cmd_vel_sub_ = impl_->ros_node_->create_subscription<geometry_msgs::msg::Twist>(
+    "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)),
+    std::bind(&GazeboRosAckermannDrivePrivate::OnCmdVel, impl_.get(), std::placeholders::_1));
+
+  RCLCPP_INFO(impl_->ros_node_->get_logger(),
+    "Subscribed to [%s]", impl_->cmd_vel_sub_->get_topic_name());
+
+  // Odometry
+  impl_->odometry_frame_ = _sdf->Get<std::string>("odometry_frame", "odom").first;
+  impl_->robot_base_frame_ = _sdf->Get<std::string>("robot_base_frame", "base_footprint").first;
+
+  // Advertise odometry topic
+  impl_->publish_odom_ = _sdf->Get<bool>("publish_odom", false).first;
+  if (impl_->publish_odom_) {
+    impl_->odometry_pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
+      "odom", rclcpp::QoS(rclcpp::KeepLast(1)));
+
+    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
+      impl_->odometry_pub_->get_topic_name());
+  }
+
+  // Advertise distance travelled
+  impl_->publish_distance_ = _sdf->Get<bool>("publish_distance", false).first;
+  if (impl_->publish_distance_) {
+    impl_->distance_pub_ = impl_->ros_node_->create_publisher<std_msgs::msg::Float32>(
+      "distance", rclcpp::QoS(rclcpp::KeepLast(1)));
+
+    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise distance on [%s]",
+      impl_->distance_pub_->get_topic_name());
+  }
+
+  // Create TF broadcaster if needed
+  impl_->publish_wheel_tf_ = _sdf->Get<bool>("publish_wheel_tf", false).first;
+  impl_->publish_odom_tf_ = _sdf->Get<bool>("publish_odom_tf", false).first;
+  if (impl_->publish_wheel_tf_ || impl_->publish_odom_tf_) {
+    impl_->transform_broadcaster_ =
+      std::make_shared<tf2_ros::TransformBroadcaster>(impl_->ros_node_);
+
+    if (impl_->publish_odom_tf_) {
+      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+        "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(),
+        impl_->robot_base_frame_.c_str());
+    }
+
+    if (impl_->publish_wheel_tf_) {
+      for (auto & joint : impl_->joints_) {
+        RCLCPP_INFO(impl_->ros_node_->get_logger(),
+          "Publishing wheel transforms between [%s], [%s] and [%s]",
+          impl_->robot_base_frame_.c_str(), joint->GetName().c_str(), joint->GetName().c_str());
+      }
+    }
+  }
+
+  auto pose = impl_->model_->WorldPose();
+  impl_->odom_.pose.pose.position = gazebo_ros::Convert<geometry_msgs::msg::Point>(pose.Pos());
+  impl_->odom_.pose.pose.orientation = gazebo_ros::Convert<geometry_msgs::msg::Quaternion>(
+    pose.Rot());
+
+  impl_->covariance_[0] = _sdf->Get<double>("covariance_x", 0.00001).first;
+  impl_->covariance_[1] = _sdf->Get<double>("covariance_y", 0.00001).first;
+  impl_->covariance_[2] = _sdf->Get<double>("covariance_yaw", 0.001).first;
+
+  // Listen to the update event (broadcast every simulation iteration)
+  impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin(
+    std::bind(&GazeboRosAckermannDrivePrivate::OnUpdate, impl_.get(), std::placeholders::_1));
+}
+
+void GazeboRosAckermannDrive::Reset()
+{
+  impl_->last_update_time_ = impl_->model_->GetWorld()->SimTime();
+
+  impl_->target_linear_ = 0;
+  impl_->target_rot_ = 0;
+  impl_->distance_.data = 0;
+}
+
+void GazeboRosAckermannDrivePrivate::OnUpdate(const gazebo::common::UpdateInfo & _info)
+{
+  std::lock_guard<std::mutex> lock(lock_);
+
+  double seconds_since_last_update = (_info.simTime - last_update_time_).Double();
+
+  // Update odom
+  UpdateOdometryWorld();
+
+  if (seconds_since_last_update < update_period_) {
+    return;
+  }
+
+  if (publish_distance_) {
+    distance_pub_->publish(distance_);
+  }
+
+  if (publish_odom_) {
+    PublishOdometryMsg(_info.simTime);
+  }
+
+  if (publish_wheel_tf_) {
+    PublishWheelsTf(_info.simTime);
+  }
+
+  if (publish_odom_tf_) {
+    PublishOdometryTf(_info.simTime);
+  }
+
+  // Current speed assuming equal for left rear and right rear
+  auto linear_vel = joints_[REAR_RIGHT]->GetVelocity(0);
+  auto target_linear = ignition::math::clamp(target_linear_, -max_speed_, max_speed_);
+  double linear_diff = linear_vel - target_linear / wheel_radius_;
+  double linear_cmd = pid_linear_vel_.Update(linear_diff, seconds_since_last_update);
+
+  auto target_rot = target_rot_ * copysign(1.0, target_linear_);
+  target_rot = ignition::math::clamp(target_rot, -max_steer_, max_steer_);
+
+  double tanSteer = tan(target_rot);
+
+  auto target_left_steering =
+    atan2(tanSteer, 1.0 - wheel_separation_ / 2.0 / wheel_base_ * tanSteer);
+  auto target_right_steering =
+    atan2(tanSteer, 1.0 + wheel_separation_ / 2.0 / wheel_base_ * tanSteer);
+
+  auto left_steering_angle = joints_[STEER_LEFT]->Position(0);
+  auto right_steering_angle = joints_[STEER_RIGHT]->Position(0);
+
+  double left_steering_diff = left_steering_angle - target_left_steering;
+  double left_steering_cmd =
+    pid_left_steering_.Update(left_steering_diff, seconds_since_last_update);
+
+  double right_steering_diff = right_steering_angle - target_right_steering;
+  double right_steering_cmd =
+    pid_right_steering_.Update(right_steering_diff, seconds_since_last_update);
+
+  auto steer_wheel_angle = (left_steering_angle + right_steering_angle) * 0.5 / steering_ratio_;
+
+  joints_[STEER_LEFT]->SetForce(0, left_steering_cmd);
+  joints_[STEER_RIGHT]->SetForce(0, right_steering_cmd);
+  joints_[REAR_RIGHT]->SetForce(0, linear_cmd);
+  joints_[REAR_LEFT]->SetForce(0, linear_cmd);
+
+  if (joints_.size() == 7) {
+    joints_[STEER_WHEEL]->SetPosition(0, steer_wheel_angle);
+  }
+
+  last_update_time_ = _info.simTime;
+}
+
+void GazeboRosAckermannDrivePrivate::OnCmdVel(const geometry_msgs::msg::Twist::SharedPtr _msg)
+{
+  std::lock_guard<std::mutex> scoped_lock(lock_);
+  target_linear_ = _msg->linear.x;
+  target_rot_ = _msg->angular.z;
+}
+
+double GazeboRosAckermannDrivePrivate::CollisionRadius(const gazebo::physics::CollisionPtr & _coll)
+{
+  if (!_coll || !(_coll->GetShape())) {
+    return 0;
+  }
+  if (_coll->GetShape()->HasType(gazebo::physics::Base::CYLINDER_SHAPE)) {
+    gazebo::physics::CylinderShape * cyl =
+      dynamic_cast<gazebo::physics::CylinderShape *>(_coll->GetShape().get());
+    return cyl->GetRadius();
+  } else if (_coll->GetShape()->HasType(gazebo::physics::Base::SPHERE_SHAPE)) {
+    gazebo::physics::SphereShape * sph =
+      dynamic_cast<gazebo::physics::SphereShape *>(_coll->GetShape().get());
+    return sph->GetRadius();
+  }
+  return 0;
+}
+
+void GazeboRosAckermannDrivePrivate::UpdateOdometryWorld()
+{
+  auto prev_x = odom_.pose.pose.position.x;
+  auto prev_y = odom_.pose.pose.position.y;
+
+  auto pose = model_->WorldPose();
+  odom_.pose.pose.position = gazebo_ros::Convert<geometry_msgs::msg::Point>(pose.Pos());
+  odom_.pose.pose.orientation = gazebo_ros::Convert<geometry_msgs::msg::Quaternion>(pose.Rot());
+
+  distance_.data += hypot(prev_x - odom_.pose.pose.position.x, prev_y - odom_.pose.pose.position.y);
+
+  // Get velocity in odom frame
+  auto linear = model_->WorldLinearVel();
+  odom_.twist.twist.angular.z = model_->WorldAngularVel().Z();
+
+  // Convert velocity to child_frame_id(aka base_footprint)
+  auto yaw = static_cast<float>(pose.Rot().Yaw());
+  odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y();
+  odom_.twist.twist.linear.y = cosf(yaw) * linear.Y() - sinf(yaw) * linear.X();
+}
+
+void GazeboRosAckermannDrivePrivate::PublishOdometryTf(const gazebo::common::Time & _current_time)
+{
+  geometry_msgs::msg::TransformStamped msg;
+  msg.header.stamp = gazebo_ros::Convert<builtin_interfaces::msg::Time>(_current_time);
+  msg.header.frame_id = odometry_frame_;
+  msg.child_frame_id = robot_base_frame_;
+  msg.transform.translation =
+    gazebo_ros::Convert<geometry_msgs::msg::Vector3>(odom_.pose.pose.position);
+  msg.transform.rotation = odom_.pose.pose.orientation;
+
+  transform_broadcaster_->sendTransform(msg);
+}
+
+void GazeboRosAckermannDrivePrivate::PublishWheelsTf(const gazebo::common::Time & _current_time)
+{
+  for (const auto & joint : joints_) {
+    auto pose = joint->GetChild()->WorldPose() - model_->WorldPose();
+
+    geometry_msgs::msg::TransformStamped msg;
+    msg.header.stamp = gazebo_ros::Convert<builtin_interfaces::msg::Time>(_current_time);
+    msg.header.frame_id = robot_base_frame_;
+    msg.child_frame_id = joint->GetChild()->GetName();
+    msg.transform.translation = gazebo_ros::Convert<geometry_msgs::msg::Vector3>(pose.Pos());
+    msg.transform.rotation = gazebo_ros::Convert<geometry_msgs::msg::Quaternion>(pose.Rot());
+
+    transform_broadcaster_->sendTransform(msg);
+  }
+}
+
+void GazeboRosAckermannDrivePrivate::PublishOdometryMsg(const gazebo::common::Time & _current_time)
+{
+  // Set covariance
+  odom_.pose.covariance[0] = covariance_[0];
+  odom_.pose.covariance[7] = covariance_[1];
+  odom_.pose.covariance[14] = 1000000000000.0;
+  odom_.pose.covariance[21] = 1000000000000.0;
+  odom_.pose.covariance[28] = 1000000000000.0;
+  odom_.pose.covariance[35] = covariance_[2];
+
+  odom_.twist.covariance[0] = covariance_[0];
+  odom_.twist.covariance[7] = covariance_[1];
+  odom_.twist.covariance[14] = 1000000000000.0;
+  odom_.twist.covariance[21] = 1000000000000.0;
+  odom_.twist.covariance[28] = 1000000000000.0;
+  odom_.twist.covariance[35] = covariance_[2];
+
+  // Set header
+  odom_.header.frame_id = odometry_frame_;
+  odom_.child_frame_id = robot_base_frame_;
+  odom_.header.stamp = gazebo_ros::Convert<builtin_interfaces::msg::Time>(_current_time);
+
+  // Publish
+  odometry_pub_->publish(odom_);
+}
+GZ_REGISTER_MODEL_PLUGIN(GazeboRosAckermannDrive)
+}  // namespace gazebo_plugins
diff --git a/gazebo_plugins/test/CMakeLists.txt b/gazebo_plugins/test/CMakeLists.txt
index ab54dd2c4..b6eadb0b1 100644
--- a/gazebo_plugins/test/CMakeLists.txt
+++ b/gazebo_plugins/test/CMakeLists.txt
@@ -12,6 +12,7 @@ endforeach()
 
 # Tests
 set(tests
+  test_gazebo_ros_ackermann_drive
   test_gazebo_ros_diff_drive
   test_gazebo_ros_elevator
   test_gazebo_ros_force
diff --git a/gazebo_plugins/test/test_gazebo_ros_ackermann_drive.cpp b/gazebo_plugins/test/test_gazebo_ros_ackermann_drive.cpp
new file mode 100644
index 000000000..3aae7ec1b
--- /dev/null
+++ b/gazebo_plugins/test/test_gazebo_ros_ackermann_drive.cpp
@@ -0,0 +1,120 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gazebo/common/Time.hh>
+#include <gazebo/test/ServerFixture.hh>
+#include <geometry_msgs/msg/twist.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+
+#include <memory>
+
+#define tol 10e-1
+
+using namespace std::literals::chrono_literals; // NOLINT
+
+class GazeboRosAckermannDriveTest : public gazebo::ServerFixture
+{
+};
+
+TEST_F(GazeboRosAckermannDriveTest, Publishing)
+{
+  // Load test world and start paused
+  this->Load("worlds/gazebo_ros_ackermann_drive.world", true);
+
+  // World
+  auto world = gazebo::physics::get_world();
+  ASSERT_NE(nullptr, world);
+
+  // Model
+  auto vehicle = world->ModelByName("vehicle");
+  ASSERT_NE(nullptr, vehicle);
+
+  // Create node and executor
+  auto node = std::make_shared<rclcpp::Node>("gazebo_ros_ackermann_drive_test");
+  ASSERT_NE(nullptr, node);
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
+  // Create subscriber
+  nav_msgs::msg::Odometry::SharedPtr latestMsg;
+  auto sub = node->create_subscription<nav_msgs::msg::Odometry>(
+    "test/odom_test", rclcpp::QoS(rclcpp::KeepLast(1)),
+    [&latestMsg](const nav_msgs::msg::Odometry::SharedPtr _msg) {
+      latestMsg = _msg;
+    });
+
+  // Step a bit for model to settle
+  world->Step(100);
+  executor.spin_once(100ms);
+
+  // Check model state
+  EXPECT_NEAR(0.0, vehicle->WorldPose().Pos().X(), tol);
+  EXPECT_NEAR(0.0, vehicle->WorldPose().Pos().Y(), tol);
+  EXPECT_NEAR(0.0, vehicle->WorldPose().Rot().Yaw(), tol);
+  EXPECT_NEAR(0.0, vehicle->WorldLinearVel().X(), tol);
+  EXPECT_NEAR(0.0, vehicle->WorldAngularVel().Z(), tol);
+
+  // Send command
+  auto pub = node->create_publisher<geometry_msgs::msg::Twist>(
+    "test/cmd_test", rclcpp::QoS(rclcpp::KeepLast(1)));
+
+  auto msg = geometry_msgs::msg::Twist();
+  msg.linear.x = 5.0;
+  msg.angular.z = 0.1;
+  pub->publish(msg);
+
+  // Wait for it to be processed
+  int sleep{0};
+  int maxSleep{300};
+
+  double yaw = static_cast<float>(vehicle->WorldPose().Rot().Yaw());
+  auto linear_vel = vehicle->WorldLinearVel();
+  double linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();
+
+  for (; sleep < maxSleep && (linear_vel_x < 4.0 ||
+    vehicle->WorldAngularVel().Z() < 0.0); ++sleep)
+  {
+    yaw = static_cast<float>(vehicle->WorldPose().Rot().Yaw());
+    linear_vel = vehicle->WorldLinearVel();
+    linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();
+    world->Step(100);
+    executor.spin_once(100ms);
+    gazebo::common::Time::MSleep(100);
+  }
+  EXPECT_NE(sleep, maxSleep);
+
+  // Check message
+  ASSERT_NE(nullptr, latestMsg);
+  EXPECT_EQ("odom_test", latestMsg->header.frame_id);
+  EXPECT_LT(0.0, latestMsg->pose.pose.position.x);
+  EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z);
+
+  // Check movement
+  yaw = static_cast<float>(vehicle->WorldPose().Rot().Yaw());
+  linear_vel = vehicle->WorldLinearVel();
+  linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();
+  EXPECT_LT(0.0, vehicle->WorldPose().Pos().X());
+  EXPECT_LT(0.0, yaw);
+  EXPECT_NEAR(5.0, linear_vel_x, tol);
+  EXPECT_NEAR(0.1, vehicle->WorldAngularVel().Z(), tol);
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/gazebo_plugins/test/worlds/gazebo_ros_ackermann_drive.world b/gazebo_plugins/test/worlds/gazebo_ros_ackermann_drive.world
new file mode 100644
index 000000000..f39d81bfd
--- /dev/null
+++ b/gazebo_plugins/test/worlds/gazebo_ros_ackermann_drive.world
@@ -0,0 +1,587 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <model name="vehicle">
+      <pose>0 0 0.03 0 0 0</pose>
+      <link name="chassis">
+        <pose>0 0 0 0 0 1.57</pose>
+        <inertial>
+          <mass>1326.0</mass>
+          <pose>0 -0.266 0.48 0 0 0</pose>
+          <inertia>
+            <ixx>2581.13354740</ixx>
+            <ixy>0.0</ixy>
+            <iyy>591.30846112</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>2681.95008628</izz>
+          </inertia>
+        </inertial>
+
+        <visual name="chassis_visual">
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Hybrid</name>
+                <center>false</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <visual name="interior_visual">
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Hybrid_Interior</name>
+                <center>false</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <visual name="windows_visual">
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Hybrid_Windows</name>
+                <center>false</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="chassis">
+          <pose>0.0 0.05 0.625 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.7526 2.1 0.95</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="front_bumper">
+          <pose>0.0 -2.0 0.458488 0.0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.337282 0.48 0.566691</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="hood">
+          <pose>0.0 -1.900842 0.676305 0.341247 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.597968 0.493107 0.265468</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="windshield">
+          <pose>0.0 -0.875105 1.032268 0.335476 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.168381 1.654253 0.272347</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="top_front">
+          <pose>0.0 0.161236 1.386042 0.135030 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.279154 0.625988 0.171868</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="top_rear">
+          <pose>0.0 0.817696 1.360069 -0.068997 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.285130 0.771189 0.226557</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="rear_window">
+          <pose>0.0 1.640531 1.175126 -0.262017 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.267845 1.116344 0.244286</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="trunk">
+          <pose>0.0 1.637059 0.888180 0.0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.788064 1.138988 0.482746</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="back_bumper">
+          <pose>0.0 2.054454 0.577870 0.0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.781650 0.512093 0.581427</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+
+      <link name="steering_wheel">
+        <pose>0.627868 0.357734 0.988243 -1.302101 0 1.57</pose>
+        <inertial>
+          <mass>1.0</mass>
+          <inertia>
+            <ixx>0.14583300</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.14583300</iyy>
+            <iyz>0</iyz>
+            <izz>0.12500000</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.178172</radius>
+              <length>0.041845</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <min_depth>0.003</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <pose>0 0 0 1.302101 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Steering_Wheel</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+
+      <link name="front_left_wheel">
+        <pose>1.41 0.76 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+
+        <visual name="visual">
+          <pose>0.04 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Left_</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.9</mu>
+                <mu2>0.9</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+
+        </collision>
+      </link>
+
+      <link name="front_right_wheel">
+        <pose>1.41 -0.76 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>-0.04 0.0 0.0 0 0 0</pose>
+          <pose>0 0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Right</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.9</mu>
+                <mu2>0.9</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+
+        </collision>
+      </link>
+
+
+      <link name="rear_left_wheel">
+        <pose>-1.45 0.786 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+
+        <visual name="visual">
+          <pose>0.04 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Left_</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1.1</mu>
+                <mu2>1.1</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+
+        </collision>
+      </link>
+
+      <link name="rear_right_wheel">
+        <pose>-1.45 -0.786 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>-0.04 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Right</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1.1</mu>
+                <mu2>1.1</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+
+      <joint type="universal" name="front_left_combined_joint">
+        <pose>0 0 0 -0.08726646259971647 0 0</pose>
+        <child>front_left_wheel</child>
+        <parent>chassis</parent>
+        <axis>
+          <xyz>0 0 1</xyz>
+          <limit>
+            <!-- +- 50 degrees -->
+            <lower>-0.8727</lower>
+            <upper>0.8727</upper>
+          </limit>
+        </axis>
+        <axis2>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>18.0474092253</friction>
+          </dynamics>
+        </axis2>
+      </joint>
+
+      <joint type="universal" name="front_right_combined_joint">
+        <pose>0 0 0 -0.08726646259971647 0 0</pose>
+        <child>front_right_wheel</child>
+        <parent>chassis</parent>
+        <axis>
+          <xyz>0 0 1</xyz>
+          <limit>
+            <!-- +- 50 degrees -->
+            <lower>-0.8727</lower>
+            <upper>0.8727</upper>
+          </limit>
+        </axis>
+        <axis2>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>18.0474092253</friction>
+          </dynamics>
+        </axis2>
+      </joint>
+
+      <link name="rear_axle">
+        <pose>-1.45 0 0.3 0 0 0</pose>
+        <inertial>
+          <mass>30.0</mass>
+          <inertia>
+            <ixx>0.08437499999999999</ixx>
+            <ixy>0.0</ixy>
+            <iyy>4.64581</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>4.64581</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <cylinder>
+              <length>1.357</length>
+              <radius>0.075</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+      </link>
+
+      <joint type="revolute" name="rear_axle_joint">
+        <child>rear_axle</child>
+        <parent>chassis</parent>
+        <axis>
+          <xyz>0 1 0</xyz>
+          <limit>
+            <lower>-0.05089058524173028</lower>
+            <upper>0.05089058524173028</upper>
+          </limit>
+          <dynamics>
+            <spring_stiffness>20000.0</spring_stiffness>
+            <damping>2000.0</damping>
+          </dynamics>
+        </axis>
+      </joint>
+      <joint type="revolute" name="rear_left_wheel_joint">
+        <child>rear_left_wheel</child>
+        <parent>rear_axle</parent>
+        <axis>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>12.031606150200002</friction>
+          </dynamics>
+        </axis>
+      </joint>
+      <joint type="revolute" name="rear_right_wheel_joint">
+        <child>rear_right_wheel</child>
+        <parent>rear_axle</parent>
+        <axis>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>12.031606150200002</friction>
+          </dynamics>
+        </axis>
+      </joint>
+
+      <joint name="steering_joint" type="revolute">
+        <pose>-0.002 0 0 0 0 0</pose>
+        <parent>chassis</parent>
+        <child>steering_wheel</child>
+        <axis>
+          <xyz>-0.964118 0.000768 0.265556</xyz>
+          <limit>
+            <lower>-7.85</lower>
+            <upper>7.85</upper>
+          </limit>
+          <dynamics>
+            <damping>1.0</damping>
+          </dynamics>
+          <use_parent_model_frame>true</use_parent_model_frame>
+        </axis>
+        <physics>
+          <ode>
+            <cfm_damping>1</cfm_damping>
+          </ode>
+        </physics>
+      </joint>
+
+      <plugin name='ackermann_drive' filename='libgazebo_ros_ackermann_drive.so'>
+
+        <ros>
+          <namespace>test</namespace>
+          <argument>cmd_vel:=cmd_test</argument>
+          <argument>odom:=odom_test</argument>
+          <argument>distance:=distance_test</argument>
+        </ros>
+
+        <update_rate>100.0</update_rate>
+
+        <!-- wheels -->
+        <front_left_joint>front_left_combined_joint</front_left_joint>
+        <front_right_joint>front_right_combined_joint</front_right_joint>
+        <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
+        <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
+        <left_steering_joint>front_left_combined_joint</left_steering_joint>
+        <right_steering_joint>front_right_combined_joint</right_steering_joint>
+        <steering_wheel_joint>steering_joint</steering_wheel_joint>
+
+        <!-- Max absolute steer angle for tyre in radians-->
+        <!-- Any cmd_vel angular z greater than this would be capped -->
+        <max_steer>0.6458</max_steer>
+
+        <!-- Max absolute steering angle of steering wheel -->
+        <max_steering_angle>7.85</max_steering_angle>
+
+        <!-- Max absolute linear speed in m/s -->
+        <max_speed>20</max_speed>
+
+        <!-- PID tuning -->
+        <left_steering_pid_gain>1500 0 1</left_steering_pid_gain>
+        <left_steering_i_range>0 0</left_steering_i_range>
+        <right_steering_pid_gain>1500 0 1</right_steering_pid_gain>
+        <right_steering_i_range>0 0</right_steering_i_range>
+        <linear_velocity_pid_gain>1000 0 1</linear_velocity_pid_gain>
+        <linear_velocity_i_range>0 0</linear_velocity_i_range>
+
+        <!-- output -->
+        <publish_odom>true</publish_odom>
+        <publish_odom_tf>true</publish_odom_tf>
+        <publish_wheel_tf>true</publish_wheel_tf>
+        <publish_distance>true</publish_distance>
+
+        <odometry_frame>odom_test</odometry_frame>
+        <robot_base_frame>chassis</robot_base_frame>
+
+      </plugin>
+    </model>
+
+  </world>
+</sdf>
diff --git a/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world b/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world
new file mode 100644
index 000000000..42d06a033
--- /dev/null
+++ b/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world
@@ -0,0 +1,612 @@
+<?xml version="1.0"?>
+<!--
+  Gazebo ROS ackermann drive plugin demo
+
+  Try sending commands:
+
+    ros2 topic pub /demo/cmd_demo geometry_msgs/msg/Twist '{linear: {x: 1.0}, angular: {z: 0.1}}' -1
+
+  Try listening to odometry:
+
+    ros2 topic echo /demo/odom_demo
+
+  Try listening to odometer reading(linear distance convered):
+
+    ros2 topic echo /demo/distance_demo
+
+  Try listening to TF:
+
+    ros2 run tf2_ros tf2_echo odom_demo chassis
+
+    and other links
+-->
+<sdf version="1.6">
+  <world name="default">
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <model name="prius_hybrid">
+      <pose>0 0 0.03 0 0 0</pose>
+      <link name="chassis">
+        <pose>0 0 0 0 0 1.57</pose>
+        <inertial>
+          <mass>1326.0</mass>
+          <pose>0 -0.266 0.48 0 0 0</pose>
+          <inertia>
+            <ixx>2581.13354740</ixx>
+            <ixy>0.0</ixy>
+            <iyy>591.30846112</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>2681.95008628</izz>
+          </inertia>
+        </inertial>
+
+        <visual name="chassis_visual">
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Hybrid</name>
+                <center>false</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <visual name="interior_visual">
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Hybrid_Interior</name>
+                <center>false</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <visual name="windows_visual">
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Hybrid_Windows</name>
+                <center>false</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="chassis">
+          <pose>0.0 0.05 0.625 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.7526 2.1 0.95</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="front_bumper">
+          <pose>0.0 -2.0 0.458488 0.0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.337282 0.48 0.566691</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="hood">
+          <pose>0.0 -1.900842 0.676305 0.341247 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.597968 0.493107 0.265468</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="windshield">
+          <pose>0.0 -0.875105 1.032268 0.335476 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.168381 1.654253 0.272347</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="top_front">
+          <pose>0.0 0.161236 1.386042 0.135030 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.279154 0.625988 0.171868</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="top_rear">
+          <pose>0.0 0.817696 1.360069 -0.068997 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.285130 0.771189 0.226557</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="rear_window">
+          <pose>0.0 1.640531 1.175126 -0.262017 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.267845 1.116344 0.244286</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="trunk">
+          <pose>0.0 1.637059 0.888180 0.0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.788064 1.138988 0.482746</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <collision name="back_bumper">
+          <pose>0.0 2.054454 0.577870 0.0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.781650 0.512093 0.581427</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+
+      <link name="steering_wheel">
+        <pose>0.627868 0.357734 0.988243 -1.302101 0 1.57</pose>
+        <inertial>
+          <mass>1.0</mass>
+          <inertia>
+            <ixx>0.14583300</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.14583300</iyy>
+            <iyz>0</iyz>
+            <izz>0.12500000</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.178172</radius>
+              <length>0.041845</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <min_depth>0.003</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <pose>0 0 0 1.302101 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Steering_Wheel</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+
+      <link name="front_left_wheel">
+        <pose>1.41 0.76 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+
+        <visual name="visual">
+          <pose>0.04 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Left_</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.9</mu>
+                <mu2>0.9</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+
+        </collision>
+      </link>
+
+      <link name="front_right_wheel">
+        <pose>1.41 -0.76 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>-0.04 0.0 0.0 0 0 0</pose>
+          <pose>0 0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Right</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.9</mu>
+                <mu2>0.9</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+
+        </collision>
+      </link>
+
+
+      <link name="rear_left_wheel">
+        <pose>-1.45 0.786 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+
+        <visual name="visual">
+          <pose>0.04 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Left_</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1.1</mu>
+                <mu2>1.1</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+
+        </collision>
+      </link>
+
+      <link name="rear_right_wheel">
+        <pose>-1.45 -0.786 0.3 0 0 1.57</pose>
+        <inertial>
+          <mass>11</mass>
+          <inertia>
+            <ixx>0.58631238</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.33552910</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.33552910</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>-0.04 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://prius_hybrid/meshes/Hybrid.obj</uri>
+              <scale>0.01 0.01 0.01</scale>
+              <submesh>
+                <name>Wheel_Front_Right</name>
+                <center>true</center>
+              </submesh>
+            </mesh>
+          </geometry>
+        </visual>
+
+        <collision name="collision">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.31265</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1.1</mu>
+                <mu2>1.1</mu2>
+                <slip1>0.0</slip1>
+                <slip2>0.0</slip2>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <min_depth>0.001</min_depth>
+                <kp>1e9</kp>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+
+      <joint type="universal" name="front_left_combined_joint">
+        <pose>0 0 0 -0.08726646259971647 0 0</pose>
+        <child>front_left_wheel</child>
+        <parent>chassis</parent>
+        <axis>
+          <xyz>0 0 1</xyz>
+          <limit>
+            <!-- +- 50 degrees -->
+            <lower>-0.8727</lower>
+            <upper>0.8727</upper>
+          </limit>
+        </axis>
+        <axis2>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>18.0474092253</friction>
+          </dynamics>
+        </axis2>
+      </joint>
+
+      <joint type="universal" name="front_right_combined_joint">
+        <pose>0 0 0 -0.08726646259971647 0 0</pose>
+        <child>front_right_wheel</child>
+        <parent>chassis</parent>
+        <axis>
+          <xyz>0 0 1</xyz>
+          <limit>
+            <!-- +- 50 degrees -->
+            <lower>-0.8727</lower>
+            <upper>0.8727</upper>
+          </limit>
+        </axis>
+        <axis2>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>18.0474092253</friction>
+          </dynamics>
+        </axis2>
+      </joint>
+
+      <link name="rear_axle">
+        <pose>-1.45 0 0.3 0 0 0</pose>
+        <inertial>
+          <mass>30.0</mass>
+          <inertia>
+            <ixx>0.08437499999999999</ixx>
+            <ixy>0.0</ixy>
+            <iyy>4.64581</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>4.64581</izz>
+          </inertia>
+        </inertial>
+        <visual name="visual">
+          <pose>0.0 0.0 0.0 0 1.5707963267948966 0</pose>
+          <geometry>
+            <cylinder>
+              <length>1.357</length>
+              <radius>0.075</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+      </link>
+
+      <joint type="revolute" name="rear_axle_joint">
+        <child>rear_axle</child>
+        <parent>chassis</parent>
+        <axis>
+          <xyz>0 1 0</xyz>
+          <limit>
+            <lower>-0.05089058524173028</lower>
+            <upper>0.05089058524173028</upper>
+          </limit>
+          <dynamics>
+            <spring_stiffness>20000.0</spring_stiffness>
+            <damping>2000.0</damping>
+          </dynamics>
+        </axis>
+      </joint>
+      <joint type="revolute" name="rear_left_wheel_joint">
+        <child>rear_left_wheel</child>
+        <parent>rear_axle</parent>
+        <axis>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>12.031606150200002</friction>
+          </dynamics>
+        </axis>
+      </joint>
+      <joint type="revolute" name="rear_right_wheel_joint">
+        <child>rear_right_wheel</child>
+        <parent>rear_axle</parent>
+        <axis>
+          <xyz>1 0 0</xyz>
+          <dynamics>
+            <friction>12.031606150200002</friction>
+          </dynamics>
+        </axis>
+      </joint>
+
+      <joint name="steering_joint" type="revolute">
+        <pose>-0.002 0 0 0 0 0</pose>
+        <parent>chassis</parent>
+        <child>steering_wheel</child>
+        <axis>
+          <xyz>-0.964118 0.000768 0.265556</xyz>
+          <limit>
+            <lower>-7.85</lower>
+            <upper>7.85</upper>
+          </limit>
+          <dynamics>
+            <damping>1.0</damping>
+          </dynamics>
+          <use_parent_model_frame>true</use_parent_model_frame>
+        </axis>
+        <physics>
+          <ode>
+            <cfm_damping>1</cfm_damping>
+          </ode>
+        </physics>
+      </joint>
+
+      <plugin name='ackermann_drive' filename='libgazebo_ros_ackermann_drive.so'>
+
+        <ros>
+          <namespace>demo</namespace>
+          <argument>cmd_vel:=cmd_demo</argument>
+          <argument>odom:=odom_demo</argument>
+          <argument>distance:=distance_demo</argument>
+        </ros>
+
+        <update_rate>100.0</update_rate>
+
+        <!-- wheels -->
+        <front_left_joint>front_left_combined_joint</front_left_joint>
+        <front_right_joint>front_right_combined_joint</front_right_joint>
+        <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
+        <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
+        <left_steering_joint>front_left_combined_joint</left_steering_joint>
+        <right_steering_joint>front_right_combined_joint</right_steering_joint>
+        <steering_wheel_joint>steering_joint</steering_wheel_joint>
+
+        <!-- Max absolute steer angle for tyre in radians-->
+        <!-- Any cmd_vel angular z greater than this would be capped -->
+        <max_steer>0.6458</max_steer>
+
+        <!-- Max absolute steering angle of steering wheel -->
+        <max_steering_angle>7.85</max_steering_angle>
+
+        <!-- Max absolute linear speed in m/s -->
+        <max_speed>20</max_speed>
+
+        <!-- PID tuning -->
+        <left_steering_pid_gain>1500 0 1</left_steering_pid_gain>
+        <left_steering_i_range>0 0</left_steering_i_range>
+        <right_steering_pid_gain>1500 0 1</right_steering_pid_gain>
+        <right_steering_i_range>0 0</right_steering_i_range>
+        <linear_velocity_pid_gain>1000 0 1</linear_velocity_pid_gain>
+        <linear_velocity_i_range>0 0</linear_velocity_i_range>
+
+        <!-- output -->
+        <publish_odom>true</publish_odom>
+        <publish_odom_tf>true</publish_odom_tf>
+        <publish_wheel_tf>true</publish_wheel_tf>
+        <publish_distance>true</publish_distance>
+
+        <odometry_frame>odom_demo</odometry_frame>
+        <robot_base_frame>chassis</robot_base_frame>
+
+      </plugin>
+    </model>
+
+  </world>
+</sdf>