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Two issues:

• Your tf tree is disconnected, into the robot frames on the left and the navigation related frames on the right. There should be a connection between base_link and odom (see this random example I googled) that normally is provided by either your mobile base controller directly, or via another node like robot_pose_ekf. The latter case if frequently used when the odometry transform is estimated from multiple sources of information, such as encoders plus gyros.
• Your ros_bridge expects a standard geometry_msgs/Twist message message type for the "cmd_vel" topic, but the publisher it is connected to appears to publish a nav2d_operator/cmd message type instead. This can be fixed by making sure that your publisher also publishes a geometry_msgs/Twist message.