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tracked robot Gazebo-ROs

hello, I'm trying to create a simulator in gazebo under ROS, for a robot base. This robot base has tracked wheels. I would like to ask you how to implement them in ros and Gazebo, in particular:

  • is there any kind of specific transmission ?
  • do I have to build the urdf xacro in a particular way ?
  • is there any kind of example (I didn't find it from my own)?

thanks in advance