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You have the three following joints: base_to_right_wheel, base_to_left_wheel and base_to_stable.

In the code you posted, you publish joint_states for: swivel, tilt and periscope.

This does obviously not match. You need to publish the joint_states for the joints that you define in your URDF...

You have the three following joints: base_to_right_wheel, base_to_left_wheel and base_to_stable.

In the code you posted, you publish joint_states for: swivel, tilt and periscope.

This does obviously not match. You need to publish the joint_states for the (non-fixed) joints that you define in your URDF...