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in your urdf file the first link in the tree should be named as base link
for example:
<link name="base_link"> <visual> <geometry> <cylinder length="0.01" radius="0.2"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="yellow"> <color rgba="1 1 1 1"/> </material> </visual> </link>