What is the velocity assigned to the gazebo-ros-conrtol controller

When I create a transmission for the wheels of my robot like thistransmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface1 or transmission_interface/SimpleTransmissionhardware_interface/VelocityJointInterfacehardware_interface/VelocityJointInterface1 And I configure the controller as so joint_wheel_controller: type: effort_controllers/JointVelocityController joint: wheel_joint pid: {p: 100, i: 10, d: 0.1} or joint_wheel_controller: type: velocity_controllers/JointVelocityController joint: wheel_joint pid: {p: 100, i: 10, d: 0.1} And I run the simulation and sent a command to both left and right wheel to set velocity to 1.0 rostopic pub /robot/joint_wheel_controller/command std_msgs/Float64 "data: 1.0" The robot moves about 1 meter in 10 second. The robot wheel turns once around in about 8 seconds. What kind of velocity unit is that? How do I convert it to m/s?