Problem with TF in gazebo and working well in RViz

Help
,
1

I’m trying to make a model of a robot projected by myself. If I run it on RViz it comes out very well with all the collision parts and visual parts. But if I run it on Gazebo, when Rviz opens, there is written that there aren’t the TF for the 2 wheels. I attach the screen of the robot on RViz. I don’t know how to resolve this problem.

Screenshot from 2025-04-01 12-43-40
Screenshot from 2025-04-01 12-43-40490×470 16.3 KB

I also attach the xacro file:

<?xml version="1.0"?> 
<link name="base_footprint" />

<link name="base_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/chassis-V5.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 ${pi / 2.0}"/>
        <material name="blue" />
    </visual>
    <collision>
        <geometry>
            <box size="0.093 0.067 0.005" />
        </geometry>
        <origin xyz="-0.015 0 0" rpy="0 0 0"/>
    </collision>
    <xacro:box_inertia m="0.4" x="0.093" y="0.067" z="0.005"
                       xyz="-0.015 0 0" rpy="0 0 0" />
</link>

<link name="motor_dx_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/motor.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0"/>
        <material name="green" />
    </visual>
    <collision>
        <geometry>
            <box size="0.025 0.01 0.01" />
        </geometry>
        <origin xyz="-0.005 0 0.002" rpy="0 0 0"/>
    </collision>
    <xacro:box_inertia m="0.4" x="0.025" y="0.01" z="0.01"
                       xyz="-0.005 0 0.002" rpy="0 0 0" />
</link>

<link name="motor_sx_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/motor.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0"/>
        <material name="green" />
    </visual>
    <collision>
        <geometry>
            <box size="0.025 0.01 0.01" />
        </geometry>
        <origin xyz="-0.005 0 0.002" rpy="0 0 0"/>
    </collision>
    <xacro:box_inertia m="0.4" x="0.025" y="0.01" z="0.01"
                       xyz="-0.005 0 0.002" rpy="0 0 0" />
</link>

<link name="wheel_dx_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/wheel.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <material name="grey" />
    </visual>
    <collision>
        <geometry>
            <cylinder radius="0.016" length="0.005" />
        </geometry>
        <origin xyz="0.004 0 0" rpy="${pi / 2.0} 0 ${pi / 2.0}"/>
    </collision>
    <xacro:cylinder_inertia m="0.2" r="0.016" h="0.005"
                       xyz="0.004 0 0" rpy="0 0 0" />
</link>

<link name="wheel_sx_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/wheel.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <material name="grey" />
    </visual>
    <collision>
        <geometry>
            <cylinder radius="0.016" length="0.005" />
        </geometry>
        <origin xyz="0.004 0 0" rpy="${pi / 2.0} 0 ${pi / 2.0}"/>
    </collision>
    <xacro:cylinder_inertia m="0.2" r="0.016" h="0.005"
                       xyz="0.004 0 0" rpy="0 0 0" />
</link>

<link name="top_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/Floor-1-V2.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 ${-pi / 2.0}"/>
        <material name="orange" />
    </visual>
    <collision>
        <geometry>
            <box size="0.093 0.067 0.005" />
        </geometry>
        <origin xyz="-0.015 0 0" rpy="0 0 0"/>
    </collision>
    <xacro:box_inertia m="0.4" x="0.093" y="0.067" z="0.005"
                       xyz="-0.015 0 0" rpy="0 0 0" />
</link>

<link name="sensor_link">
    <visual>
        <geometry>
            <mesh filename="package://my_robot_description/meshes/sensor.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin xyz="0.02 -0.013 0" rpy="${pi / 2.0} 0 ${pi / 2.0}"/>
        <material name="yellow" />
    </visual>
</link>

<link name="caster_wheel_link">
    <visual>
        <geometry>
            <sphere radius="0.006" />
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <material name="grey" />
    </visual>
    <collision>
        <geometry>
            <sphere radius="0.006" />
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
    </collision>
    <xacro:sphere_inertia m="0.2" r="0.006" xyz="0 0 0" rpy="0 0 0" />
</link>


<joint name="base_joint" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link" />
    <origin xyz="0 0 0.011" rpy="0 0 0" />
</joint>

<joint name="base_motor_dx_joint" type="fixed">
    <parent link="base_link" />
    <child link="motor_dx_link" />
    <origin xyz="0 -0.024 0.005" rpy="0 0 ${-pi / 2.0}" />
</joint>

<joint name="base_motor_sx_joint" type="fixed">
    <parent link="base_link" />
    <child link="motor_sx_link" />
    <origin xyz="0 0.024 0.005" rpy="0 0 ${pi / 2.0}" />
</joint>

<joint name="motor_dx_wheel_dx_joint" type="continuous">
    <parent link="motor_dx_link" />
    <child link="wheel_dx_link" />
    <origin xyz="0.011 0 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
</joint>

<joint name="motor_sx_wheel_sx_joint" type="continuous">
    <parent link="motor_sx_link" />
    <child link="wheel_sx_link" />
    <origin xyz="0.02 0 0" rpy="0 0 ${pi}" />
    <axis xyz="1 0 0" />
</joint>

<joint name="base_top_link" type="fixed">
    <parent link="base_link" />
    <child link="top_link" />
    <origin xyz="-0.003 0 0.035" rpy="0 0 0" />
</joint>

<joint name="base_sensor_link" type="fixed">
    <parent link="base_link" />
    <child link="sensor_link" />
    <origin xyz="0.035 0 0" rpy="0 0 0" />
</joint>

<joint name="base_caster_wheel_link" type="fixed">
    <parent link="base_link" />
    <child link="caster_wheel_link" />
    <origin xyz="-0.052 0 -0.005" rpy="0 0 0" />
</joint>