Gazebo simulation does not respond to joint movement commands

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I've been following along with the ROS URDF and Gazebo tutorial provided on the ros wiki. I've been able to successfully spawn my robot in RVIZ and Gazebo, but have been unable to get any of the joints to move when I publish a command to their respective topic.

Here is some information about my setup:

OS: Ubuntu 18.04.6 LTS

ROS Version: Melodic

Gazebo Version: 9.0.0

When I run my launch file I get some errors about PID in the console output, but they don't seem critical:

started roslaunch server http://laptop-name:37747/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /openni2_num_sensors_expected: 0
 * /porter_diff_drive_controller/joint: right_front_swerv...
 * /porter_diff_drive_controller/publish_rate: 50
 * /porter_diff_drive_controller/type: joint_state_contr...
 * /porter_joint_state_publisher/publish_rate: 50
 * /porter_joint_state_publisher/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /rqt_robot_steering/default_topic: /porter_diff_driv...
 * /swerve_state_controller/angular/z/has_acceleration_limits: True
 * /swerve_state_controller/angular/z/has_velocity_limits: True
 * /swerve_state_controller/angular/z/max_acceleration: 6.0
 * /swerve_state_controller/angular/z/max_velocity: 2.0
 * /swerve_state_controller/base_frame_id: base_link
 * /swerve_state_controller/left_wheel: ['left_front_whee...
 * /swerve_state_controller/linear/x/has_acceleration_limits: True
 * /swerve_state_controller/linear/x/has_velocity_limits: True

 * /swerve_state_controller/linear/x/max_acceleration: 0.6
 * /swerve_state_controller/linear/x/max_velocity: 0.2
 * /swerve_state_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /swerve_state_controller/publish_rate: 50
 * /swerve_state_controller/right_wheel: ['right_front_whe...
 * /swerve_state_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /swerve_state_controller/type: diff_drive_contro...
 * /swerve_state_controller/wheel_separation: 0.44
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rqt_robot_steering (rqt_robot_steering/rqt_robot_steering)
    rviz (rviz/rviz)
    transporter_controller_spawner (controller_manager/spawner)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [2989]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fe5b37de-8c55-11ed-ac23-1c1bb5dea251
process[rosout-1]: started with pid [3010]
started core service [/rosout]
process[gazebo-2]: started with pid [3024]
[ INFO] [1672853652.697272186]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1672853652.699238302]: waitFor

Service: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[gazebo_gui-3]: started with pid [3034]
[ INFO] [1672853653.558807847]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1672853653.629908405, 0.052000000]: Physics dynamic reconfigure ready.
[ INFO] [1672853653.802564660]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1672853653.804881491]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
process[urdf_spawner-4]: started with pid [3120]
[Err] [REST.cc:205] Error in REST request


libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[INFO] [1672853655.497647, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1672853655.505107, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1672853655.508387, 0.000000]: Calling service /gazebo/spawn_urdf_model
process[robot_state_publisher-5]: started with pid [3212]
[INFO] [1672853655.691804, 2.037000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1672853655.693287, 2.037000]: Unpausing physics
[ INFO] [1672853655.712336514, 2.037000000]: Loading gazebo_ros_control plugin
[ INFO] [1672853655.712436423, 2.037000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1672853655.712867034, 2.037000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1672853655.826606830, 2.037000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/left_back_wheel_joint
[ERROR] [1672853655.827294158, 2.037000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_back_wheel_joint
[ERROR] [1672853655.828192634, 2.037000000]: No ...