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I found the issue. I had added the joint limites to the left and right wheel of type continues joint which was not neccessary, after i removed it this issue has been solved. This is the urdf now:
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="bini">
<link
name="base_link">
<inertial>
<origin
xyz="-0.000974249882031576 -9.78826166007437E-05 0.00780978465523864"
rpy="0 0 0" />
<mass
value="10.589357107049" />
<inertia
ixx="0.189832532176186"
ixy="-5.08208130976939E-05"
ixz="-0.000132652446732943"
iyy="0.232099873616206"
iyz="-1.59893088223653E-06"
izz="0.412084574276852" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="right_wheel">
<inertial>
<origin
xyz="1.08490216931377E-07 9.3956709841525E-07 0.0412241882606272"
rpy="0 0 0" />
<mass
value="0.99084069927183" />
<inertia
ixx="0.00172004677021908"
ixy="3.56311548599628E-10"
ixz="7.39797549611567E-10"
iyy="0.00172003921089414"
iyz="-2.29303724268573E-08"
izz="0.00302659678949164" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/right_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/right_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="right_wheel_joint"
type="continuous">
<origin
xyz="0 -0.2709 -0.022"
rpy="-1.5707963267949 0 0" />
<parent
link="base_link" />
<child
link="right_wheel" />
<axis
xyz="0 0 1" />
</joint>
<link
name="left_wheel">
<inertial>
<origin
xyz="-1.08484865680283E-07 9.39589923257961E-07 -0.0412241882773907"
rpy="0 0 0" />
<mass
value="0.990840698274938" />
<inertia
ixx="0.00172004676930286"
ixy="-3.56183225835047E-10"
ixz="7.396964905088E-10"
iyy="0.001720039210495"
iyz="2.2929941364905E-08"
izz="0.00302659678891439" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/left_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/left_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="left_wheel_joint"
type="continuous">
<origin
xyz="0 0.2709 -0.022"
rpy="-1.5707963267949 0 0" />
<parent
link="base_link" />
<child
link="left_wheel" />
<axis
xyz="0 0 1" />
</joint>
<link
name="front_wheel">
<inertial>
<origin
xyz="-2.53516929671349E-11 -2.09946313886778E-12 -0.0529701674769827"
rpy="0 0 0" />
<mass
value="0.180146683333572" />
<inertia
ixx="0.000141701374607203"
ixy="1.50026734117913E-16"
ixz="-1.86828528793809E-13"
iyy="9.96785201006041E-05"
iyz="-1.72771967067332E-14"
izz="9.33185220445507E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/front_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/front_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="front_wheel_joint"
type="fixed">
<origin
xyz="0.22 0 -0.00499999999999998"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="front_wheel" />
<axis
xyz="0 0 0" />
</joint>
<link
name="back_wheel">
<inertial>
<origin
xyz="2.53516929671349E-11 2.0995203135118E-12 -0.0529701674769827"
rpy="0 0 0" />
<mass
value="0.180146683333572" />
<inertia
ixx="0.000141701374607204"
ixy="1.50036229731317E-16"
ixz="1.8682853612232E-13"
iyy="9.96785201006041E-05"
iyz="1.72771944864186E-14"
izz="9.33185220445508E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/back_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/back_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="back_wheel_joint"
type="fixed">
<origin
xyz="-0.22 0 -0.00500000000000001"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="back_wheel" />
<axis
xyz="0 0 0" />
</joint>
<link
name="head_link">
<inertial>
<origin
xyz="0.00647362520971346 5.1811561853714E-05 -0.0370219241084218"
rpy="0 0 0" />
<mass
value="1.27231923452174" />
<inertia
ixx="0.00491185529030034"
ixy="1.02620424447035E-07"
ixz="-5.66636233403596E-05"
iyy="0.00444507596115534"
iyz="2.16367001658607E-10"
izz="0.00434247154776491" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/head_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/head_link.STL" />
</geometry>
</collision>
</link>
<joint
name="head_joint"
type="revolute">
<origin
xyz="0 0 0.1"
rpy="0 0 0" />
<parent
link="body_link" />
<child
link="head_link" />
<axis
xyz="0 0 -1" />
<limit
lower="-1"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="camera_link">
<inertial>
<origin
xyz="-0.0132722750523412 0.00168229283153508 2.45081831340421E-06"
rpy="0 0 0" />
<mass
value="0.0381911755537163" />
<inertia
ixx="2.35737524789129E-05"
ixy="4.51104983751582E-08"
ixz="-1.30160517243525E-08"
iyy="2.1117054578037E-06"
iyz="-8.01969335322622E-09"
izz="2.2257097263999E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/camera_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/camera_link.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_joint"
type="fixed">
<origin
xyz="0.084449198476746 0 0.0401986684159106"
rpy="0 0.4014257279587 0" />
<parent
link="head_link" />
<child
link="camera_link" />
<axis
xyz="0 1 0" />
</joint>
<link
name="body_link">
<inertial>
<origin
xyz="0.0250131013023791 -4.06038716843898E-05 -0.594722331983531"
rpy="0 0 0" />
<mass
value="20.5839733718412" />
<inertia
ixx="0.852108103921431"
ixy="9.75530844183407E-05"
ixz="-0.00702473703784166"
iyy="0.809923165835514"
iyz="2.82818555716354E-05"
izz="0.344143049831588" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/body_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/body_link.STL" />
</geometry>
</collision>
</link>
<joint
name="body_joint"
type="revolute">
<origin
xyz="0 0 1.129"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="body_link" />
<axis
xyz="0 0 1" />
<limit
lower="-1"
upper="1"
effort="1"
velocity="1" />
</joint>
<link
name="base_scan">
<inertial>
<origin
xyz="0.0011098351497652 0.00117518814062065 0.0203506890315897"
rpy="0 0 0" />
<mass
value="0.0435462426034516" />
<inertia
ixx="1.64404659486793E-05"
ixy="7.04096058411176E-07"
ixz="-1.08646753318027E-07"
iyy="1.44261926390208E-05"
iyz="-5.42161794692107E-08"
izz="2.93896619775387E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/base_scan.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/base_scan.STL" />
</geometry>
</collision>
</link>
<joint
name="base_scan_joint"
type="fixed">
<origin
xyz="0.139000000000004 0 -1.0"
rpy="0 0 0" />
<parent
link="body_link" />
<child
link="base_scan" />
<axis
xyz="0 0 -1" />
</joint>
<link
name="imu_link">
<inertial>
<origin
xyz="-0.0126983054362859 0.0127067334061724 0.00100832615814825"
rpy="0 0 0" />
<mass
value="0.0010525286055925" />
<inertia
ixx="4.87757493772201E-08"
ixy="1.16309770097923E-11"
ixz="-4.76227079537682E-18"
iyy="4.7241734481433E-08"
iyz="-7.61166343604552E-15"
izz="9.54695671081389E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/imu_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bini_description/meshes/imu_link.STL" />
</geometry>
</collision>
</link>
<joint
name="imu_joint"
type="fixed">
<origin
xyz="-0.0496 -0.08 -1.009"
rpy="0 0 0" />
<parent
link="body_link" />
<child
link="imu_link" />
<axis
xyz="0 0 0" />
</joint>
</robot>
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