diff --git a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
index 9f4daaf196c..3ce4f3b19b1 100644
--- a/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
+++ b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
@@ -78,8 +78,8 @@ def main():
     tree = ET.parse(sdf_file_path)
     root = tree.getroot()
     for plugin in root.iter('plugin'):
-        # TODO(orduno) Handle case if an sdf file from non-turtlebot is provided
-        if 'turtlebot3_diff_drive' in plugin.attrib.values():
+        # use plugin filename to support non turtlebot sdf/urdf
+        if 'libgazebo_ros_diff_drive.so' == plugin.get('filename'):
             # The only plugin we care for now is 'diff_drive' which is
             # broadcasting a transform between`odom` and `base_footprint`
             break