[odom] topic not existing in RViz for skid_steering plug-in

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Dear all, I am using the skid_steering plugin to manipulate a 4 wheels robot. The problem is that whenever I use it I miss the [odom] frame in RViz. If I change to differential_drive plugin (for 2-wheels robot) the [odom] frame reapears in RViz, thus being able to see my robot moving in RViz space.

if when using skid_steering plugin, I issue: rostopic list I see the odom topic as well as the cmd_vel topic.

I think this is a simple problem but I cannot locate the issue. Any help appreciated !

Diff Drive Plugin:

<gazebo>
    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>40</updateRate>
        <legacyMode>false</legacyMode>
        <leftJoint>FLJ</leftJoint>
        <rightJoint>FRJ</rightJoint>
        <wheelSeparation>0.356</wheelSeparation>
        <wheelDiameter>0.075</wheelDiameter>
        <torque>15</torque>
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>odom</odometryTopic>
        <odometryFrame>odom</odometryFrame>
        <robotBaseFrame>base_link</robotBaseFrame>
        <publishWheelTF>false</publishWheelTF>
        <publishWheelJointState>false</publishWheelJointState>
        <rosDebugLevel>na</rosDebugLevel>
        <wheelAcceleration>0</wheelAcceleration>
        <wheelTorque>15</wheelTorque>
        <odometrySource>world</odometrySource>
        <publishOdomTF>true</publishOdomTF>

        <publishTf>1</publishTf>
    </plugin>
</gazebo>

Skid Steering Drive Plugin:

<gazebo>
  <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
    <updateRate>40.0</updateRate>
    <alwaysOn>true</alwaysOn>
    <leftFrontJoint>FLJ</leftFrontJoint>
    <rightFrontJoint>FRJ</rightFrontJoint>
    <leftRearJoint>BLJ</leftRearJoint>
    <rightRearJoint>BRJ</rightRearJoint>
    <wheelSeparation>0.33</wheelSeparation>
    <wheelDiameter>0.075</wheelDiameter>
    <robotBaseFrame>base_link</robotBaseFrame>
    <torque>15</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <robotBaseFrame>base_link</robotBaseFrame>
    <publishWheelTF>false</publishWheelTF>
    <publishWheelJointState>false</publishWheelJointState>
    <rosDebugLevel>na</rosDebugLevel>
    <wheelAcceleration>0</wheelAcceleration>
    <wheelTorque>15</wheelTorque>
    <odometrySource>world</odometrySource>
    <publishOdomTF>true</publishOdomTF>
    <covariance_x>0.0001</covariance_x>
    <covariance_y>0.0001</covariance_y>
    <covariance_yaw>0.0001</covariance_yaw>
    <publishTf>1</publishTf>
  </plugin>
</gazebo>