Skid_steer_drive_controller don't move joints

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Hello I have found a problem when I try to use gazebo skid_steer_drive_controller. The controller did not publish wheel tf and will not respond when I try to send cmd_vel. Rviz says error where no transform from [link_left_wheel_front] to [odom]. But what is most important that the robot in Gazebo isn't moving. I don't know where it could be problem. Maybe in the plugin setting, but when I was looking and comparing with different codes, it looks ok to me.

Main URDF file:

<robot <a="" href="http://xmlns:xacro="http://ros.org/wiki/xacro%22" name="my_robot">xmlns:xacro="http://ros.org/wiki/xacro"> <xacro:include filename="$(find trabot_description)/urdf/trabot.sensors.urdf.xacro"> <xacro:property name="width" value="0.25"> <xacro:property name="bodylen" value="0.38"> <xacro:property name="hight" value="0.09"> <xacro:property name="wheel_pitch" value="0.175"> <xacro:property name="wheel_length" value="0.053975"> <xacro:property name="wheel_radius" value="0.0575"> <xacro:property name="wheel_separation" value="0.175"></xacro:property></xacro:property></xacro:property></xacro:property></xacro:property></xacro:property></xacro:property></xacro:include></robot>

<link name="base_link">
    <visual>
        <geometry>
            <mesh filename="package://trabot_description/meshes/base.dae" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-${width/2} -${bodylen/2} -${hight/2}"/>
    </visual>
    <collision>
        <geometry>
            <box size="${width} ${bodylen} ${hight}"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="1.204"/>
        <inertia ixx="0.01768" ixy="0.0" ixz="-0.0" iyy="0.00949" iyz="-0.0" izz="0.02069"/>
    </inertial>
</link>

<xacro:macro name="wheel" params="prefix postfix frontback reflect">
    <link name="link_${prefix}_wheel_${postfix}">
        <visual>
            <geometry>
                <mesh filename="package://trabot_description/meshes/wheel.dae" scale="0.001 0.001 0.001"/>
            </geometry>
            <origin rpy="0 0 ${reflect*pi/2}" xyz="0 0 0"/>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
            </geometry>
            <origin rpy="0 ${pi/2} 0" xyz="${reflect*(wheel_radius/2)} 0 0"/>
        </collision>
        <inertial>
            <mass value="0.254"/>
            <inertia ixx="0.000427228" ixy="0.0" ixz="0.0" iyy="0.0002708487" iyz="0.0" izz="0.0002708487"/>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </inertial>
    </link>

    <joint name="joint_${prefix}_${postfix}_wheel" type="continuous">
        <parent link="base_link"/>
        <child link="link_${prefix}_wheel_${postfix}"/>
        <origin xyz="${(width/2+0.0001)*reflect} ${(wheel_pitch/2)*frontback} -0.0175"/>
        <axis xyz="1 0 0"/>
            <limit effort="10000" velocity="1000"/>
            <joint_properties damping="1.0" friction="1.0"/>
    </joint>

    <!-- This block provides the simulator (Gazebo) with information on a few additional
    physical properties. See http://gazebosim.org/tutorials/?tut=ros_urdf for more-->
    <gazebo reference="link_${prefix}_wheel_${postfix}">
        <mu1>0.1</mu1>
        <mu2>0.1</mu2>
        <kp>1000000.0</kp>
        <kd>100.0</kd>
        <minDepth>0.00</minDepth>
    </gazebo>

    <transmission name="tran_${prefix}_${postfix}_wheel">
        <type>transmission_interface/SimpleTransmission< ...