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so I managed to solve the issue... the reason why the bot buried in the surface is because i mentioned the "cylinder" in the geometry tag in wheel link, but i added an stl file thru mesh in the visual tag in the same wheel link.... which is not relevant. after i changed the wheel link like this and defined the inertia value for each wheels, gave the friction value in gazebo reference....

    <visual> 
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>          
    <geometry>
        <mesh filename="${path}" scale="0.005 0.005 0.005"/> #length = 0.018 radius = "0.066"
    </geometry>
    <material name="">
        <color rgba="1.0 0.0 0.0 1.0"/>
    </material>
</visual>
<collision>
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <geometry>
        <mesh filename="${path}" scale="0.005 0.005 0.005"/> #length = 0.018 radius = "0.066"
    </geometry>
</collision>

the bot behaves good.