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The way that I have found to solve this issue is remove the joint_state_publisher from launch file and put it in the xacro file like this:

<gazebo>
    <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
        <robotNamespace>/mm</robotNamespace>
        <jointName>${base_link}__${frame}, 
                   ${frame}__${crank}, 
                   ${crank}__${coupler}, 
                   ${fork}__${wheel}, 
                   ${frame}__${rocker}
        </jointName>
    </plugin>    
</gazebo>

Now the robot's movements in Rviz are the same as in Gazebo and the TF tree is made correctly.