diff --git a/Changelog.md b/Changelog.md
index 8e8cc35c3b..e225a617c2 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -4,6 +4,23 @@
 
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.2.0 (2024-03-14)
+
+1. Add reference to joint_controller.md tutorial.
+    * [Pull request #2333](https://github.com/gazebosim/gz-sim/pull/2333)
+
+1. Fix wget in maritime tutorials
+    * [Pull request #2330](https://github.com/gazebosim/gz-sim/pull/2330)
+
+1. Add entity and sdf parameters to Server's AddSystem interface
+    * [Pull request #2324](https://github.com/gazebosim/gz-sim/pull/2324)
+
+1. Add entity validation to OdometryPublisher
+    * [Pull request #2326](https://github.com/gazebosim/gz-sim/pull/2326)
+
+1. Fix typo in Joint.hh
+    * [Pull request #2310](https://github.com/gazebosim/gz-sim/pull/2310)
+
 ### Gazebo Sim 8.1.0 (2024-02-06)
 
 1. Add tutorial for using components in systems
diff --git a/src/MeshInertiaCalculator.cc b/src/MeshInertiaCalculator.cc
index 23d5e95310..47b7c3c230 100644
--- a/src/MeshInertiaCalculator.cc
+++ b/src/MeshInertiaCalculator.cc
@@ -218,6 +218,11 @@ std::optional<gz::math::Inertiald> MeshInertiaCalculator::operator()
   // Load the Mesh
   gz::common::MeshManager *meshManager = gz::common::MeshManager::Instance();
   mesh = meshManager->Load(fullPath);
+  if (!mesh)
+  {
+    gzerr << "Failed to load mesh: " << fullPath << std::endl;
+    return std::nullopt;
+  }
   std::vector<Triangle> meshTriangles;
   gz::math::MassMatrix3d meshMassMatrix;
   gz::math::Pose3d centreOfMass;
diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
index 4ee08be76a..a5ba51e96c 100644
--- a/src/SimulationRunner.cc
+++ b/src/SimulationRunner.cc
@@ -463,6 +463,8 @@ void SimulationRunner::PublishStats()
 
   msg.set_paused(this->currentInfo.paused);
 
+  msgs::Set(msg.mutable_step_size(), this->currentInfo.dt);
+
   if (this->Stepping())
   {
     // (deprecated) Remove this header in Gazebo H
diff --git a/src/gui/plugins/apply_force_torque/ApplyForceTorque.cc b/src/gui/plugins/apply_force_torque/ApplyForceTorque.cc
index 24a607d20f..a2ca6ce79f 100644
--- a/src/gui/plugins/apply_force_torque/ApplyForceTorque.cc
+++ b/src/gui/plugins/apply_force_torque/ApplyForceTorque.cc
@@ -19,7 +19,6 @@
 #include <mutex>
 #include <string>
 
-#include <gz/common/MeshManager.hh>
 #include <gz/common/MouseEvent.hh>
 #include <gz/gui/Application.hh>
 #include <gz/gui/GuiEvents.hh>
diff --git a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
index 82e1492853..c5d24bc7ab 100644
--- a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
+++ b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
@@ -1245,7 +1245,14 @@ rendering::GeometryPtr VisualizationCapabilitiesPrivate::CreateGeometry(
     gz::common::MeshManager *meshManager =
         gz::common::MeshManager::Instance();
     descriptor.mesh = meshManager->Load(descriptor.meshName);
-    geom = this->scene->CreateMesh(descriptor);
+    if (descriptor.mesh)
+    {
+      geom = this->scene->CreateMesh(descriptor);
+    }
+    else
+    {
+      gzerr << "Failed to load mesh: " << descriptor.meshName << std::endl;
+    }
     scale = _geom.MeshShape()->Scale();
   }
   else if (_geom.Type() == sdf::GeometryType::HEIGHTMAP)
diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
index ab5d0ee92b..d94e6aa8b7 100644
--- a/src/rendering/SceneManager.cc
+++ b/src/rendering/SceneManager.cc
@@ -813,8 +813,14 @@ rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom,
     rendering::MeshDescriptor descriptor;
     descriptor.meshName = name;
     descriptor.mesh = meshManager->MeshByName(name);
-
-    geom = this->dataPtr->scene->CreateMesh(descriptor);
+    if (descriptor.mesh)
+    {
+      geom = this->dataPtr->scene->CreateMesh(descriptor);
+    }
+    else
+    {
+      gzerr << "Unable to find the polyline mesh: " << name << std::endl;
+    }
   }
   else
   {
diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
index 3fe8a5f60d..0548749c9d 100644
--- a/src/systems/ackermann_steering/AckermannSteering.cc
+++ b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -608,70 +608,29 @@ void AckermannSteering::PreUpdate(const UpdateInfo &_info,
     for (Entity joint : this->dataPtr->leftJoints)
     {
       // Update wheel velocity
-      auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-      if (vel == nullptr)
-      {
-        _ecm.CreateComponent(
-            joint, components::JointVelocityCmd(
-              {this->dataPtr->leftJointSpeed}));
-      }
-      else
-      {
-        *vel = components::JointVelocityCmd({this->dataPtr->leftJointSpeed});
-      }
+      _ecm.SetComponentData<components::JointVelocityCmd>(
+        joint, {this->dataPtr->leftJointSpeed});
     }
 
     for (Entity joint : this->dataPtr->rightJoints)
     {
       // Update wheel velocity
-      auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-      if (vel == nullptr)
-      {
-        _ecm.CreateComponent(joint,
-            components::JointVelocityCmd({this->dataPtr->rightJointSpeed}));
-      }
-      else
-      {
-        *vel = components::JointVelocityCmd({this->dataPtr->rightJointSpeed});
-      }
+      _ecm.SetComponentData<components::JointVelocityCmd>(
+        joint, {this->dataPtr->rightJointSpeed});
     }
   }
 
   // Update steering
   for (Entity joint : this->dataPtr->leftSteeringJoints)
   {
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(
-          joint, components::JointVelocityCmd(
-                             {this->dataPtr->leftSteeringJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd(
-                         {this->dataPtr->leftSteeringJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(
+      joint, {this->dataPtr->leftSteeringJointSpeed});
   }
 
   for (Entity joint : this->dataPtr->rightSteeringJoints)
   {
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(joint,
-          components::JointVelocityCmd(
-                  {this->dataPtr->rightSteeringJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd(
-                     {this->dataPtr->rightSteeringJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(
+      joint, {this->dataPtr->rightSteeringJointSpeed});
   }
   if (!this->dataPtr->steeringOnly)
   {
@@ -968,11 +927,11 @@ void AckermannSteeringPrivate::UpdateAngle(
 
   double leftSteeringJointAngle =
       atan((2.0 * this->wheelBase * sin(ang)) / \
-      ((2.0 * this->wheelBase * cos(ang)) + \
+      ((2.0 * this->wheelBase * cos(ang)) - \
       (1.0 * this->wheelSeparation * sin(ang))));
   double rightSteeringJointAngle =
       atan((2.0 * this->wheelBase * sin(ang)) / \
-      ((2.0 * this->wheelBase * cos(ang)) - \
+      ((2.0 * this->wheelBase * cos(ang)) + \
       (1.0 * this->wheelSeparation * sin(ang))));
 
   auto leftSteeringPos = _ecm.Component<components::JointPosition>(
diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc
index 700e342743..04fc968279 100644
--- a/src/systems/diff_drive/DiffDrive.cc
+++ b/src/systems/diff_drive/DiffDrive.cc
@@ -459,17 +459,8 @@ void DiffDrive::PreUpdate(const UpdateInfo &_info,
       continue;
 
     // Update wheel velocity
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(
-          joint, components::JointVelocityCmd({this->dataPtr->leftJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd({this->dataPtr->leftJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(joint,
+      {this->dataPtr->leftJointSpeed});
   }
 
   for (Entity joint : this->dataPtr->rightJoints)
@@ -479,17 +470,8 @@ void DiffDrive::PreUpdate(const UpdateInfo &_info,
       continue;
 
     // Update wheel velocity
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(joint,
-          components::JointVelocityCmd({this->dataPtr->rightJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd({this->dataPtr->rightJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(joint,
+      {this->dataPtr->rightJointSpeed});
   }
 
   // Create the left and right side joint position components if they
diff --git a/src/systems/dvl/DopplerVelocityLogSystem.cc b/src/systems/dvl/DopplerVelocityLogSystem.cc
index 103311ed6b..fbf5d7d873 100644
--- a/src/systems/dvl/DopplerVelocityLogSystem.cc
+++ b/src/systems/dvl/DopplerVelocityLogSystem.cc
@@ -220,6 +220,9 @@ class gz::sim::systems::DopplerVelocityLogSystem::Implementation
   /// \brief Current simulation time.
   public: std::chrono::steady_clock::duration nextUpdateTime{
     std::chrono::steady_clock::duration::max()};
+
+  /// \brief Mutex to protect current simulation times
+  public: std::mutex timeMutex;
 };
 
 using namespace gz;
@@ -351,6 +354,8 @@ void DopplerVelocityLogSystem::Implementation::DoPostUpdate(
       return true;
     });
 
+  std::lock_guard<std::mutex> timeLock(this->timeMutex);
+
   if (!this->perStepRequests.empty() || (
         !_info.paused && this->nextUpdateTime <= _info.simTime))
   {
@@ -611,6 +616,9 @@ void DopplerVelocityLogSystem::Implementation::OnRender()
     }
 
     auto closestUpdateTime = std::chrono::steady_clock::duration::max();
+
+    std::lock_guard<std::mutex> timeLock(this->timeMutex);
+
     for (const auto & [_, sensorId] : this->sensorIdPerEntity)
     {
       gz::sensors::Sensor *sensor =
@@ -635,6 +643,9 @@ void DopplerVelocityLogSystem::Implementation::OnRender()
 void DopplerVelocityLogSystem::Implementation::OnPostRender()
 {
   GZ_PROFILE("DopplerVelocityLogSystem::Implementation::OnPostRender");
+
+  std::lock_guard<std::mutex> timeLock(this->timeMutex);
+
   for (const auto & sensorId : this->updatedSensorIds)
   {
     auto *sensor =
diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc
index 4c18ac7bdf..40f5caac33 100644
--- a/src/systems/joint_controller/JointController.cc
+++ b/src/systems/joint_controller/JointController.cc
@@ -344,17 +344,7 @@ void JointController::PreUpdate(const UpdateInfo &_info,
     // Update joint velocity
     for (Entity joint : this->dataPtr->jointEntities)
     {
-      auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-      if (vel == nullptr)
-      {
-        _ecm.CreateComponent(
-            joint, components::JointVelocityCmd({targetVel}));
-      }
-      else
-      {
-        *vel = components::JointVelocityCmd({targetVel});
-      }
+      _ecm.SetComponentData<components::JointVelocityCmd>(joint, {targetVel});
     }
   }
 }
diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc
index 80d36c2f9e..b2835160ff 100644
--- a/src/systems/joint_position_controller/JointPositionController.cc
+++ b/src/systems/joint_position_controller/JointPositionController.cc
@@ -461,17 +461,7 @@ void JointPositionController::PreUpdate(
     for (Entity joint : this->dataPtr->jointEntities)
     {
       // Update velocity command.
-      auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-      if (vel == nullptr)
-      {
-        _ecm.CreateComponent(
-            joint, components::JointVelocityCmd({targetVel}));
-      }
-      else
-      {
-        *vel = components::JointVelocityCmd({targetVel});
-      }
+      _ecm.SetComponentData<components::JointVelocityCmd>(joint, {targetVel});
     }
     return;
   }
diff --git a/src/systems/mecanum_drive/MecanumDrive.cc b/src/systems/mecanum_drive/MecanumDrive.cc
index 6d77de4c77..2f585307c7 100644
--- a/src/systems/mecanum_drive/MecanumDrive.cc
+++ b/src/systems/mecanum_drive/MecanumDrive.cc
@@ -426,66 +426,29 @@ void MecanumDrive::PreUpdate(const gz::sim::UpdateInfo &_info,
   for (Entity joint : this->dataPtr->frontLeftJoints)
   {
     // Update wheel velocity
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(joint,
-          components::JointVelocityCmd({this->dataPtr->frontLeftJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd({this->dataPtr->frontLeftJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(joint,
+      {this->dataPtr->frontLeftJointSpeed});
   }
 
   for (Entity joint : this->dataPtr->frontRightJoints)
   {
     // Update wheel velocity
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(joint,
-          components::JointVelocityCmd({this->dataPtr->frontRightJointSpeed}));
-    }
-    else
-    {
-      *vel =
-          components::JointVelocityCmd({this->dataPtr->frontRightJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(joint,
+      {this->dataPtr->frontRightJointSpeed});
   }
 
   for (Entity joint : this->dataPtr->backLeftJoints)
   {
     // Update wheel velocity
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(joint,
-          components::JointVelocityCmd({this->dataPtr->backLeftJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd({this->dataPtr->backLeftJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(joint,
+      {this->dataPtr->backLeftJointSpeed});
   }
 
   for (Entity joint : this->dataPtr->backRightJoints)
   {
     // Update wheel velocity
-    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
-
-    if (vel == nullptr)
-    {
-      _ecm.CreateComponent(joint,
-          components::JointVelocityCmd({this->dataPtr->backRightJointSpeed}));
-    }
-    else
-    {
-      *vel = components::JointVelocityCmd({this->dataPtr->backRightJointSpeed});
-    }
+    _ecm.SetComponentData<components::JointVelocityCmd>(joint,
+      {this->dataPtr->backRightJointSpeed});
   }
 }
 
diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc
index e7663924b2..87aa50dcb4 100644
--- a/src/systems/thruster/Thruster.cc
+++ b/src/systems/thruster/Thruster.cc
@@ -740,18 +740,8 @@ void Thruster::PreUpdate(
   // Velocity control
   else
   {
-    auto velocityComp =
-    _ecm.Component<gz::sim::components::JointVelocityCmd>(
-      this->dataPtr->jointEntity);
-    if (velocityComp == nullptr)
-    {
-      _ecm.CreateComponent(this->dataPtr->jointEntity,
-        components::JointVelocityCmd({desiredPropellerAngVel}));
-    }
-    else
-    {
-      velocityComp->Data()[0] = desiredPropellerAngVel;
-    }
+    _ecm.SetComponentData<gz::sim::components::JointVelocityCmd>(
+      this->dataPtr->jointEntity, {desiredPropellerAngVel});
     angvel.set_data(desiredPropellerAngVel);
   }
 
diff --git a/src/systems/velocity_control/VelocityControl.cc b/src/systems/velocity_control/VelocityControl.cc
index 68224b3bab..b5a1ccbde1 100644
--- a/src/systems/velocity_control/VelocityControl.cc
+++ b/src/systems/velocity_control/VelocityControl.cc
@@ -197,38 +197,12 @@ void VelocityControl::PreUpdate(const UpdateInfo &_info,
     return;
 
   // update angular velocity of model
-  auto modelAngularVel =
-    _ecm.Component<components::AngularVelocityCmd>(
-      this->dataPtr->model.Entity());
-
-  if (modelAngularVel == nullptr)
-  {
-    _ecm.CreateComponent(
-      this->dataPtr->model.Entity(),
-      components::AngularVelocityCmd({this->dataPtr->angularVelocity}));
-  }
-  else
-  {
-    *modelAngularVel =
-      components::AngularVelocityCmd({this->dataPtr->angularVelocity});
-  }
+  _ecm.SetComponentData<components::AngularVelocityCmd>(
+    this->dataPtr->model.Entity(), {this->dataPtr->angularVelocity});
 
   // update linear velocity of model
-  auto modelLinearVel =
-    _ecm.Component<components::LinearVelocityCmd>(
-      this->dataPtr->model.Entity());
-
-  if (modelLinearVel == nullptr)
-  {
-    _ecm.CreateComponent(
-      this->dataPtr->model.Entity(),
-      components::LinearVelocityCmd({this->dataPtr->linearVelocity}));
-  }
-  else
-  {
-    *modelLinearVel =
-      components::LinearVelocityCmd({this->dataPtr->linearVelocity});
-  }
+  _ecm.SetComponentData<components::LinearVelocityCmd>(
+    this->dataPtr->model.Entity(), {this->dataPtr->linearVelocity});
 
   // If there are links, create link components
   // If the link hasn't been identified yet, look for it
@@ -262,17 +236,8 @@ void VelocityControl::PreUpdate(const UpdateInfo &_info,
     auto it = this->dataPtr->links.find(linkName);
     if (it != this->dataPtr->links.end())
     {
-      auto linkAngularVelComp =
-          _ecm.Component<components::AngularVelocityCmd>(it->second);
-      if (!linkAngularVelComp)
-      {
-        _ecm.CreateComponent(it->second,
-            components::AngularVelocityCmd({angularVel}));
-      }
-      else
-      {
-        *linkAngularVelComp = components::AngularVelocityCmd(angularVel);
-      }
+      _ecm.SetComponentData<components::AngularVelocityCmd>(
+        it->second, {angularVel});
     }
     else
     {
@@ -286,17 +251,8 @@ void VelocityControl::PreUpdate(const UpdateInfo &_info,
     auto it = this->dataPtr->links.find(linkName);
     if (it != this->dataPtr->links.end())
     {
-      auto linkLinearVelComp =
-          _ecm.Component<components::LinearVelocityCmd>(it->second);
-      if (!linkLinearVelComp)
-      {
-        _ecm.CreateComponent(it->second,
-            components::LinearVelocityCmd({linearVel}));
-      }
-      else
-      {
-        *linkLinearVelComp = components::LinearVelocityCmd(linearVel);
-      }
+      _ecm.SetComponentData<components::LinearVelocityCmd>(
+        it->second, {linearVel});
     }
     else
     {
diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc
index 3a365ea69f..d8de8a61f9 100644
--- a/test/integration/thruster.cc
+++ b/test/integration/thruster.cc
@@ -211,6 +211,7 @@ void ThrusterTest::TestWorld(const std::string &_world,
 
   // Check no movement because of invalid commands
   fixture.Server()->Run(true, 100, false);
+  ASSERT_FALSE(modelPoses.empty());
   EXPECT_DOUBLE_EQ(0.0, modelPoses.back().Pos().X());
   EXPECT_EQ(100u, modelPoses.size());
   EXPECT_EQ(100u, propellerAngVels.size());
@@ -244,10 +245,9 @@ void ThrusterTest::TestWorld(const std::string &_world,
   // Check movement
   if (_namespace != "lowbattery")
   {
-    for (sleep = 0; modelPoses.back().Pos().X() < 5.0 && sleep < maxSleep;
-        ++sleep)
+    for (sleep = 0; (modelPoses.empty() || modelPoses.back().Pos().X() < 5.0) &&
+         sleep < maxSleep; ++sleep)
     {
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
       fixture.Server()->Run(true, 100, false);
     }
     EXPECT_LT(sleep, maxSleep);
@@ -331,13 +331,11 @@ void ThrusterTest::TestWorld(const std::string &_world,
     EXPECT_NEAR(0.0, angVel.Y(), _baseTol);
     EXPECT_NEAR(0.0, angVel.Z(), _baseTol);
   }
-
   modelPoses.clear();
   propellerAngVels.clear();
   propellerLinVels.clear();
   // Make sure that when the deadband is disabled
   // commands below the deadband should create a movement
-  auto latest_pose = modelPoses.back();
   msgs::Boolean db_msg;
   if (_namespace == "deadband")
   {
diff --git a/test/integration/wheel_slip.cc b/test/integration/wheel_slip.cc
index 08453c8933..fef0017caf 100644
--- a/test/integration/wheel_slip.cc
+++ b/test/integration/wheel_slip.cc
@@ -526,23 +526,14 @@ TEST_F(WheelSlipTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill))
   testSlipSystem.OnPreUpdate([&](const UpdateInfo &,
         EntityComponentManager &)
       {
-      auto wheelRearLeftVelocity0Cmd =
-        ecm->Component<components::JointVelocityCmd>(wheelRearLeftSpin0Entity);
-      auto wheelRearRightVelocity0Cmd =
-        ecm->Component<components::JointVelocityCmd>(wheelRearRightSpin0Entity);
-      auto wheelRearLeftVelocity1Cmd =
-        ecm->Component<components::JointVelocityCmd>(wheelRearLeftSpin1Entity);
-      auto wheelRearRightVelocity1Cmd =
-        ecm->Component<components::JointVelocityCmd>(wheelRearRightSpin1Entity);
-
-      *wheelRearLeftVelocity0Cmd =
-        components::JointVelocityCmd({angularSpeed});
-      *wheelRearRightVelocity0Cmd =
-        components::JointVelocityCmd({angularSpeed});
-      *wheelRearLeftVelocity1Cmd =
-        components::JointVelocityCmd({angularSpeed});
-      *wheelRearRightVelocity1Cmd =
-        components::JointVelocityCmd({angularSpeed});
+        ecm->SetComponentData<components::JointVelocityCmd>(
+          wheelRearLeftSpin0Entity, {angularSpeed});
+        ecm->SetComponentData<components::JointVelocityCmd>(
+          wheelRearLeftSpin1Entity, {angularSpeed});
+        ecm->SetComponentData<components::JointVelocityCmd>(
+          wheelRearRightSpin0Entity, {angularSpeed});
+        ecm->SetComponentData<components::JointVelocityCmd>(
+          wheelRearRightSpin1Entity, {angularSpeed});
       });
   server.AddSystem(testSlipSystem.systemPtr);
   server.Run(true, 2000, false);