Failed to load system plugin gz::sim::Systems::DiffDrive

[abdvswmdr]

I'm using ROS2 Jazzy on Ubuntu 24.04. I'm encountering an error when launching the diff drive plugin in Gazebo for my robot. The error message on the terminal after ros2 launch is

I'm also using the joystick as a teleop, which doesn't work, meaning the robot cannot move. The topic /cmd_vel is also not published, only /cmd_vel_joy shows up on "ros2 topic list". I setup my diff drive control plugin as below in ros2_control.xacro

<gazebo> <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system.so">

The gazebo_control.xacro is set as below: