第八章中RVIZ无法正确显示两轮差速模型

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第八章入门篇3中RVIZ无法显示两轮差速模型（左轮右轮之类的显示不出来）。urdf中的代码都是直接复制文档的，不知道哪里出了问题。图一
图二
![GYE5R5UR_R}V3~82K%U9{1.png
图三
![9DX@6CWN`3Z7_33CM8XY03.png

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ufdf的代码如下
<?xml version="1.0"?>
<robot name="fishbot">

<!-- base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</visual>
</link>

<link name="right_wheel_link">
  <visual>
    <origin xyz="0 0 0" rpy="1.57079 0 0"/>
    <geometry>
      <cylinder length="0.04" radius="0.032"/>
    </geometry>
      <material name="black">
        <color rgba="0.0 0.0 0.0 0.5" /> 
      </material>
  </visual>

</link>

<link name="left_wheel_link">
  <visual>
    <origin xyz="0 0 0" rpy="1.57079 0 0"/>
    <geometry>
      <cylinder length="0.04" radius="0.032"/>
    </geometry>
      <material name="black">
        <color rgba="0.0 0.0 0.0 0.5" /> 
      </material>
  </visual>

</link>

<joint name="left_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="left_wheel_link" />
<origin xyz="-0.02 0.10 -0.06" />
<axis xyz="0 1 0" />
</joint>

<link name="caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>

<joint name="caster_joint" type="fixed">
<parent link="base_link" />
<child link="caster_link" />
<origin xyz="0.06 0.0 -0.076" />
</joint>

<!-- laser link -->
<link name="laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8" />
</material>
</visual>
</link>
<link name="imu_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
</visual>
</link>

<!-- imu joint -->
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0.02" />
</joint>

<!-- laser joint -->
<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_link" />
<origin xyz="0 0 0.075" />
</joint>

</robot>

<joint name="right_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="right_wheel_link" />
<origin xyz="-0.02 -0.10 -0.06" />
<axis xyz="0 1 0" />
</joint>

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编译代码如下
colcon build
source install/setup.bash
ros2 launch fishbot_description display_rviz2.launch.py

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