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i changed the wheel tag like this

 <visual>           
     <geometry>
              <mesh filename="${path}" scale="0.005 0.005 0.005"/>
     </geometry>
      <material name="">
           <color rgba="1.0 0.0 0.0 1.0"/>
      </material>
 </visual>    
<collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
         <geometry>
               <cylinder radius="${radius}" length="${length}"/>
         </geometry>
    </collision>

it solved both the issue. Hope it helps someone in the future someone facing the same problem.