How to move turtlebot3 without diff_drive_controller

I'm using ros2 humble. I simulate gazebo empty world, turtlebot3 burger model. I deleted diff drive plugin part from sdf file. I want my turtlebot to move without using diff_drive_controller. I tried to create my own plugin but i failed. My mentor said i don't need to write a plugin. It's possible to write a code using cmd and robot's physicial propereties that can move the robot (without using diff drive). It's been a week but i couldn't find a solution.

#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"

class WheelEffortController : public rclcpp::Node
{
public:
 WheelEffortController() : Node("wheel_effort_controller")
{
    // /cmd_vel Subscriber
    cmd_vel_subscriber_ = this->create_subscription<geometry_msgs::msg::Twist>(
        "cmd_vel", 10, std::bind(&WheelEffortController::cmd_vel_callback, this, std::placeholders::_1));

    // /joint_states Subscriber (To read real wheel velocities)
    joint_states_subscriber_ = this->create_subscription<sensor_msgs::msg::JointState>(
        "joint_states", 10, std::bind(&WheelEffortController::joint_states_callback, this, std::placeholders::_1));

    // Publisher that publish wheel velocities
    wheel_velocity_publisher_ = this->create_publisher<std_msgs::msg::Float64MultiArray>(
        "/wheel_velocity_controller/commands", 10);

    // Wheel properties
    wheel_radius_ = 0.033;  // m 
    wheel_base_ = 0.160;    // m
}

private:
void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
    // Take linear and angular velocities
    double linear_velocity = msg->linear.x;  // m/s
    double angular_velocity = msg->angular.z;  // rad/s

    // Calculate wheel velocities
    double wheel_left_velocity = (linear_velocity - (angular_velocity * wheel_base_ / 2)) / wheel_radius_;
    double wheel_right_velocity = (linear_velocity + (angular_velocity * wheel_base_ / 2)) / wheel_radius_;


    std_msgs::msg::Float64MultiArray wheel_msg;
    wheel_msg.data = {wheel_left_velocity, wheel_right_velocity};

    wheel_velocity_publisher_->publish(wheel_msg);

    RCLCPP_INFO(this->get_logger(), "CMD_VEL -> Publishing velocities: Left = %.2f, Right = %.2f", 
                wheel_left_velocity, wheel_right_velocity);
}

void joint_states_callback(const sensor_msgs::msg::JointState::SharedPtr msg)
{
    if (msg->name.size() < 2 || msg->velocity.size() < 2)
        return;

    double wheel_left_current_velocity = msg->velocity[0];
    double wheel_right_current_velocity = msg->velocity[1];

    RCLCPP_INFO(this->get_logger(), "JOINT_STATES -> Left Wheel: %.2f, Right Wheel: %.2f", 
                wheel_left_current_velocity, wheel_right_current_velocity);
}

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_subscriber_;
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_states_subscriber_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr wheel_velocity_publisher_;

double wheel_radius_;
double wheel_base_;
 };

 int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<WheelEffortController>());
   rclcpp::shutdown();
   return 0;
  }