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A URDF model (among others) specifies the kinematic model of your robot. For non-fixed joints (such as both wheel joints of your robot, which are continuous joints), the state (for instance rotation angle) has to be published at run-time. There's essentially two possible solutions to get rid of the warning:
Set the type of the wheel joints to
fixed instead of continuous. As
the name implies, this fixes the
wheel to the base and the
robot_state_publisher will publish
this fixed transform automatically.
Publish a JointState message with the rotation angles of the two wheel joints
In both cases, you need to have a robot_state_publisher running, as it is reponsible for publishing the robot transforms to tf based on your URDF model (and joint_states, if it contains non-fixed joints). See the Using the robot state publisher on your own robot and Using urdf with robot_state_publisher tutorials.
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