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I found the error to this question thanks to @Tom Moore for asking sample message from all sensor inputs and thanks to @gvdhoorn. The fact that I had to reformat the updated output of the sensors made me realize that the error was that the messages of USBL where never read by rosbag. After running rostopic echo / the following is the reason of my urdf for not moving:

header: 
  seq: 19
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: "map"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 5.53904389031
      y: 28.6836443911
      z: 0.0
    orientation:

After reading the timestamp everything was fine and the urdf moved properly. I hope this could be useful for many other users! :)