No transform to anything in rviz (pure simulation)

edit

Hello,

I am facing a problem when I try to bringup my robot model in rviz. I am launching joint state publisher gui and robot_state publisher in my launch file with the right robot_description urdf file.

Rviz keeps saying "No transform from xxx to base_footprint" for every link in my urdf.

I read here that somebody is needed who publishes the joint positions? Is this something I am missing?

I hope somebody can help me with this!

EDIT:

Robot RVIZ

(how it actually looks like)

Robot Gazebo

(how it should look like)

Robot RVIZ with gazebo

(This is how it looks like in RVIZ when the robot is launched parallel in gazebo) -> only some links are transformed (back wheels are missing)

Launch File

<launch>
 <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
 <arg name="multi_robot_name" default=""/>

 <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="multi_robot_name" value="$(arg multi_robot_name)"/>
 </include>

 <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui">
    <param name="use_gui" value="true"/>
    <param name="rate" value="50"/>
 </node>

 <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub">
 </node>

 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_description)/rviz/model.rviz"/>
</launch>

URDF

<?xml version="1.0" ?>
<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>

  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.53 0.50 1.20"/>
      </geometry>
      <material name="light_black"/>
    </visual>

    <collision>
      <origin xyz="0 0 0.033" rpy="0 0 0"/>
      <geometry>
        <box size="0.52 0.50 1.20"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="20.00e+00"/>
      <inertia ixx="3" ixy="0" ixz="0"
               iyy="2.82" iyz="0"
               izz="0.83" />
    </inertial>
  </link>

  <joint name="wheel_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_left_link"/>
    <origin xyz="0.265 0.2215 -0.633" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_left_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dark"/>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.018" radius="0.033"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="2.8498940e-02" />
      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz ...