model not moving in Rviz but is moving in Gazebo

Hello, I am trying to create costume robot. I have been trying to follow this tutorial. www.romin.upm.es/wiki/index.php?title=ROS%3ATutorials/Build_Your_Own_URDF_Robot I can get the robot up in Gazebo and move it with my controller but I cannnot get it to move in Rviz. My goal is to use the navigation stack to create paths for the robot to follow. (if someone know a way to do this with out Rviz I am all for it) I am controlling it with joystick inputs and have independently controlled wheels(balls). Thank you for any help. I have spent so many hours on this. Here is my Xacro description file and launch file. omnishot.urdf.xacro falseGazebo/Yellowfalse/mybotbase_footprintcmd_velodomodom20.0 ball.urdf.xacro Gazebo/Greyfalsetransmission_interface/SimpleTransmissionEffortJointInterface1 omnishot.launch