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I kind of solved the first problem (but I don't know if this is a proper solution).

When I launch the world and turtlebot separately like _world.launch and robot.launch, I see incomplete model but when I launch both in a single launch with <include>, I see the complete model. Strange, but works! And also uncommenting some lines in turtlebot_body.urdf.xacro in not needed. It works fine when the below lines were left commented.

<inertial>
  <mass value="0.0001" />
  <origin xyz="0 0 0" />
  <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
          iyy="0.0001" iyz="0.0" 
          izz="0.0001" />
</inertial>

I am still to solve the second part.