I have a urdf file for a four-wheeled robot and I want to launch a navigation stack but my problem is when I try to change the world file when I try to use the word file of turtlebot it works correctly

but when I put my world created by the gazebo model and I sent a goal I got no problem but the path planning didn't work.

process[rviz-1]: started with pid [43663]
process[map_server-2]: started with pid [43664]
process[odom_wrt_map_tf-3]: started with pid [43665]
process[move_base-4]: started with pid [43666]
process[global_path_planner-5]: started with pid [43668]
[ WARN] [1672053204.236963073, 300.279000000]: Timed out waiting for transform from robot_footprint to map to     become available before running costmap, tf error: Could not find a connection between 'map' and 'robot_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 300.279 timeout was 0.1.
[ WARN] [1672053204.284119143, 300.326000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1672053204.284701948, 300.327000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1672053204.290375959, 300.332000000]: Requesting the map...
[ INFO] [1672053204.499218517, 300.543000000]: Resizing costmap to 4000 X 3904 at 0.010000 m/pix
[ INFO] [1672053204.591952629, 300.636000000]: Received a 4000 X 3904 map at 0.010000 m/pix
[ INFO] [1672053204.593991110, 300.638000000]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1672053204.620566019, 300.664000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1672053204.621106416, 300.665000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1672053204.623312252, 300.667000000]:     Subscribed to Topics: 
[ INFO] [1672053204.632835893, 300.677000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1672053204.655814544, 300.700000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1672053204.657445165, 300.701000000]: Sim period is set to 0.10
[ INFO] [1672053205.060757400, 301.103000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1672053205.066538523, 301.110000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1672053205.086934202, 301.131000000]: odom received!
[INFO] [1672053228.271637, 324.260000]: A Star: Done with initialization