Robot displays incorrectly in Gazebo after adding the "effort_controllers/JointVelocityController"

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After checking all my files, I found that I miss <limit>-effort&velocity tag in my xacro file.

The descripiton is above, which was copy from wiki

<limit> (required only for revolute and prismatic joint)

An element can contain the following attributes: lower (optional, defaults to 0)

An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. upper (optional, defaults to 0)

An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. effort (required)

An attribute for enforcing the maximum joint effort

It seems that it is necessary to add a effort&velocity tag into a rotate/continous joint.

Even if I miss any one of these tags in joints, it will also cause this issue.