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Your URDF is fine. To fix the problem, change the Fixed Frame in RViz from /base_link to /backbone

The problem is that the launch file you're using assumes that you will have a TF frame called base_link. You should notice that the Robot Model display on the left of Rviz has an error "No transform from [backbone] to [/base_link].

When Rviz can't find a transform for a link in a model, it will display them white at the origin.

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