Although I got the visuals for my joints in my code(two wheels at the side and one at the bottom) I can not see them on the rviz2 visuals -in gazebo I have no problems I can see the whole robot. I have the joint-state-publisher and joint-state-publisher-gui installed and running throught the whole process. I am using Ubuntu 20.04 and ros-foxy.
<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin xyz="0 ${wheel_offset_y} 0" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/>
</joint>
<link name="left_wheel">
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="${wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<gazebo reference="left_wheel">
<material>Gazebo/Blue</material>
</gazebo>
<!-- RIGHT WHEEL LINK -->
<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin xyz="0 ${-wheel_offset_y} 0" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/>
</joint>
<link name="right_wheel">
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="${wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<gazebo reference="right_wheel">
<material>Gazebo/Blue</material>
</gazebo>
<!-- CASTER WHEEL LINK -->
<joint name="caster_wheel_joint" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel"/>
<origin xyz="${caster_wheel_offset_x} 0 ${caster_wheel_offset_z}"/>
</joint>
<link name="caster_wheel">
<visual>
<geometry>
<sphere radius="${caster_wheel_radius}"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<sphere radius="${caster_wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_sphere>
</link>
<gazebo reference="caster_wheel">
<material>Gazebo/White</material>
<mu1 value="0.001"/>
<mu2 value="0.001"/>
</gazebo>
</robot>
joint state publisher Rviz2, as you can see no wheels that can be seen
I have installed the joint-state-publisher packages new, didn't worked out
