Hi, I'm trying to configure my robot to use the diffdrive controller on ROS2 Galatic

Here is the error I got

[gzserver-1] Error [Element.cc:914] Missing element description for [left_joint]
[gzserver-1] Error [Element.cc:914] Missing element description for [right_joint]

Here is my configuration

<hardware>
  <plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>

  <joint name="left_wheel_joint">
    <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
    </command_interface>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>
  <joint name="right_wheel_joint">
    <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
    </command_interface>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>

And the wheels are configured like so

    <joint name="${prefix}_wheel_joint" type="continuous">
        <parent link="${parent}"/>
        <child link="${prefix}_wheel_link"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <axis xyz="1 0 0"/>
    </joint>

I tried various edits but I can't get the missing element in the description