# Revision history [back]

### Skid Steer Drive Plugin unable to find joints when it is included in a sdf

Hi,

I am creating a new robot model, to do so I include the mobile platform and the sensors in the robot's sdf.

When I add this robot an SkidSteerDrivePlugin error[1] appears saying it is unable to find the joints.

If instead of the robot's sdf[2] I launch only the platform's sdf[3] then it works.

I tried unsuccessfuly to:

• move the plugin tag up to the robot's model
• change the joints to segway_rmp400::the_joint
• both at same time
• find the patched plugin mentioned in "question/3311/skidsteerdriveplugin"

In the "question/3311/skidsteerdriveplugin" something similar happens because the plugin has the joint names hard coded. I suppose the problem is there

Should I have to create a world with all the sdf inside without using includes?

[1] The error

Error [SkidSteerDrivePlugin.cc:51] Unable to find the right_front joint in model teo.
Error [SkidSteerDrivePlugin.cc:51] Unable to find the right_rear joint in model teo.
Error [SkidSteerDrivePlugin.cc:51] Unable to find the left_front joint in model teo.
Error [SkidSteerDrivePlugin.cc:51] Unable to find the left_rear joint in model teo.


[2] The robot's SDF

 <model name="teo">
<include>
<uri>model://segway_rmp400</uri>
<name>segway_rmp400</name>
<pose>0 0 0 0 0 0</pose>
</include>
...


[3] The platform's SDF

<model name="segway_rmp400">