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wheel.urdf is included in base.urdf, but the husky_description launchfile doesn't start any joint state publisher which has the necessary transforms. This is because you might want to publish the joint states from real data, from a simulator, or just faking it with joint_state_publisher, and husky_description is a dependency of all of those use cases.

If you'd like a basic example suitable for visualization, check out the launchfiles in husky_viz (https://github.com/husky/husky_viz/blob/hydro-devel/launch/view_model.launch)