[ WARN] [1660128455.938233989]: Joint state with name: "wheel_left_joint" was received but not found in URDF

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I'm trying to transform Turtlebot 3 Burger and drive it with 4 wheels. The following systems are currently in use:

Operating System: Ubuntu 20.04.4 LTS
            Kernel: Linux 5.15.0-43-generic
      Architecture: x86-64
 noetic

https://emanual.robotis.com/docs/en/p... We also use raspberry pi4 8gb and have installed the ROS Noetic image for raspberry pi4 provided in the link above. https://emanual.robotis.com/docs/en/p... The four motors consist of two wheels on the left and two wheels on the right. Each front wheel motor has a rear wheel motor connected to the openCR board. roslaunch turtlebot3_slam turtlebot3_slam.launch If i run slam using the command present in the link above, the robot will move on the rviz.

However, when i run the navigation launch file, the robot actually moves, but it doesn't move on the rviz. also when i run navigatioin node with only two motor connected the robot moves on the rviz. I think this is the problem of robotmodel to solve this problem, i created a urdf file consisting of 4 wheels. The urdf file i created is as follows:

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


  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
   <parent link="base_footprint"/>
   <child link="base_link"/>
   <origin xyz="0.0 0.0 0.053136" rpy="0 0 0"/>
  </joint>

  <link name="base_link">
   <visual>
     <origin xyz="0.0355 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="package://turtlebot3_description/meshes/bases/TANK_base(1).stl" /> 
     </geometry>
     <material name="light_black">
     <color rgba="0.3 0.1 0.3 1" />
     </material>
   </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
       <mesh filename="package://turtlebot3_description/meshes/bases/TANK_base(1).stl" />
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0.055998 0.019157" rpy="0 0 0" />
      <mass value="1.6718"/>
      <inertia ixx="0.01" ixy="0" ixz="0"
        iyy="0.01" iyz="0"
        izz="0.01" />
     </inertial>
   </link>

<!--//////////////////////////
/////wheel_right_rear////////
////////////////////////-->
  <joint name="wheel_right_rear_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_right_rear"/>
    <origin xyz="-0.05647 -0.085 -0.02325" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_right_rear">
    <visual>
      <origin xyz="0 0 -0.009" rpy="0 1.57 0"/>
      <geometry>
    <mesh filename="package://turtlebot3_description/meshes/wheels/wheel.stl" />
      </geometry>
      <material name="dark">
      <color rgba="0.49804 0.49804 0.49804 1"/>
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
    <mesh filename="package://turtlebot3_description/meshes/wheels/wheel.stl" />
      </geometry>
    </collision>

    <inertial>
      <origin xyz="-0.1005 0.085 0" rpy="0 0 0" />
      <mass value="0.31944"/>
      <inertia ixx="0.01" ixy="0" ixz="0"
        iyy="0 ...