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These are errors that must be resolved:

Error [] XML Element[controller:diffdrive_plugin], child of element[model] not defined in SDF. Ignoring.[model]
Error [] Error reading element <model>
Error [] Unable to read element <sdf>
Error [] parse as old deprecated model file failed.
Error [] Unable to read sdf string

You are using a deprecated and unsupported XML format for your model. You'll have to change your model to SDF: