I can't use the robot in URDF but I can in Gazebo

I'm just started to learn ROS and Gazebo using ROS Melodic and Gazebo 9.6.0. I use this launch file to open RVIZ: But I see that on it:
 I use this launch file with Gazebo: And I see this:
 You can find the model [here](https://github.com/HumaRobotics/mybot_gazebo_tutorial/tree/master/mybot_gazebo/mybot_description/urdf) (I'm not using the camera yet). Is it correct to see that in RVIZ? Why I can't see like Gazebo?