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I found the solution.
Turns out
This robot has a joint named "base_plane__ArmBase" which is not in the gazebo model.
This message was the key. I have set <transmission> tag for all the joints in my URDF. But gazebo treats every links that have fixed joint with each other as a single rigid body. Thus base_plane__base_bar & base_bar__ArmBase joints were not present in the robot model. So gazebo couldn't figure out where to set the hardware interface. This is why the simulation interface was not running.
So I removed the <transmission> tag for both of this joints and it runs expectedly.
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