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Hello @siddharthcb,

I have checked everything myself which was related to your post.

Urdf is perfect just it is having a minor warning - Don't try to fix that. It's okay your code will run perfectly.
In your Rviz -> general option -> fixed frame -> make it to odom. It was a throwing an error because you have not installed drivers for it.

Here is a link for the drivers: https://github.com/ranjitkathiriya/steer_drive_ros/tree/noetic-devel

Note: that you are installing the noetic-devel branch of this driver. If you are installing any other branch it will through an error.

If you have any issues. Please! feel free to drop comments.