Urdf is not moving on RViz

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Hello, I designed a particle filter using orocos-bfl. Everything is working properly. I can see the particle cloud moving with time and according to the information of the sensors. However when it comes to show my urdf model on RViz nothing is moving. I added a small print screen so that you can visualize what is happening:

From the image it is possible to see the urdf but it is detached from the center of the particle cloud. The estimated position is shown on the Pose topic and represented using a longer arrow.

How do I link the urdf robot model with the particle cloud? Or better, how do I link the urdf robot model with the estimated position bigger arrow I can see on rostopic list?

Below is how I publish particles and pose:

// Publishing particles for the whole system
void publishParticles()
{
    geometry_msgs::PoseArray particleCloudMsg;
    particleCloudMsg.header.stamp = ros::Time::now();
    particleCloudMsg.header.frame_id = "/base_link";

    std::vector<WeightedSample<ColumnVector>>::iterator sample_it;
    std::vector<WeightedSample<ColumnVector>> samples;

    samples = filter->PostGet()->ListOfSamplesGet();

    for(sample_it = samples.begin(); sample_it<samples.end(); sample_it++)
    {
        geometry_msgs::Pose pose;
        ColumnVector sample = (*sample_it).ValueGet();

        pose.position.x = sample(1);
        pose.position.y = sample(2);
        pose.position.z = sample(3);

        particleCloudMsg.poses.insert(particleCloudMsg.poses.begin(), pose);
    }
    particle_pub.publish(particleCloudMsg);
}


void publishPose() // publish of the estimate of the state
{
    Pdf<ColumnVector> * posterior = filter->PostGet();
    ColumnVector pose = posterior->ExpectedValueGet();
    SymmetricMatrix pose_cov = posterior->CovarianceGet();

    geometry_msgs::PoseStamped pose_msg;
    pose_msg.header.stamp = ros::Time::now();
    pose_msg.header.frame_id = "/base_link";

    pose_msg.pose.position.x = pose(1);
    pose_msg.pose.position.y = pose(2);
    pose_msg.pose.position.z = pose(3);

    pose_pub.publish(pose_msg);
}

Below is the launch file if needed:

<?xml version="1.0"?>
<launch>

<param name="use_sim_time" value="true" />
<param name="use_sim_time" value="true" />

<rosparam command="load" file="$(find ros_float)/config/au_au.yaml" />
<node pkg="rosbag" type="play" name="player" output="screen" args="--clock -q -s 2340 /home/emanuele/test.bag"/>
<node pkg="rosbag" type="record" name="record" output="screen" args="-O filter_second_order_bis /estimate /particle_cloud "/>

<node pkg="ros_float" type="pf_second_order_bis_node" name="pf_node" output="screen"/>
<node pkg="ros_float" type="transform_pose.py" name="tras_pose" output="screen"/>

<!--Adding URDF model-->
<arg name="floatModel" default="$(find ros_float)/urdf/floatModel.urdf"/>
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg floatModel)" />
<param name="publish_frequency" value="1.0" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

</launch>

Thanks for pointing in the right direction to solve this issue.