model not moving in Rviz but is moving in Gazebo

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Hello,

I am trying to create costume robot. I have been trying to follow this tutorial. www.romin.upm.es/wiki/index.php?title...

I can get the robot up in Gazebo and move it with my controller but I cannnot get it to move in Rviz. My goal is to use the navigation stack to create paths for the robot to follow. (if someone know a way to do this with out Rviz I am all for it) I am controlling it with joystick inputs and have independently controlled wheels(balls).

Thank you for any help. I have spent so many hours on this.

Here is my Xacro description file and launch file.

omnishot.urdf.xacro <robot name="omnishot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Included URDF/XACRO Files -->
  <xacro:include filename="$(find omni_shot)/urdf/materials.urdf.xacro" />
  <xacro:include filename="$(find omni_shot)/urdf/ball.urdf.xacro" />

  <!-- PROPERTY LIST -->
  <!--All units in m-kg-s-radians unit system -->
  <property name="M_PI" value="3.1415926535897931" />

  <!-- Main Body-base -->
  <property name="base_size" value=".84" /> 
  <property name="base_height" value="0.66" /> 
  <property name="leg" value="0.3" /> 
  <property name="base_mass" value="300" /> <!-- in kg-->
 <property name="M_SCALE" value="1" />
  <!--Inertial macros for the box and cylinder. Units are kg*m^2-->
  <macro name="box_inertia" params="m x y z">
    <inertia  ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
              iyy="${m*(x*x+z*z)/12}" iyz = "0"
              izz="${m*(x*x+z*z)/12}" /> 
  </macro>

  <!-- BASE-FOOTPRINT -->
  <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
  <link name="odom">


    <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
            <box size="0.001 0.001 0.001" />
        </geometry>
    </visual>
  </link>

  <gazebo reference="base_footprint">
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <joint name="base_footprint_joint" type="fixed">
  <origin xyz="0 0 ${ball_radius - base_z_origin_to_ball_origin}" rpy="0 0 0" />
    <parent link="odom"/>
    <child link="base_link" />
  </joint>

  <!-- BASE-LINK -->
  <!--Actual body/chassis of the robot-->
  <link name="base_link">
    <inertial>
      <mass value="${base_mass}" />
      <origin xyz="0 0 0" />
      <!--The 3x3 rotational inertia matrix. -->
      <box_inertia  m="${base_mass}" x="${base_size}" y="${base_size}" z="${base_height}"/> 
    </inertial>    
    <visual>
      <origin xyz="0 0 .38" rpy="0 0 0" />
      <geometry>
         <mesh filename="file:///home/nathaniel/Documents/Omnibot/code/catkin_ws/src/omni_shot/models/omniShotFlip.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
      </geometry>
      <material name="Yellow" />
    </visual>  
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="${base_size} ${base_size} ${base_height}"/>
      </geometry>
    </collision>     
  </link>
  <gazebo reference="base_link">
    <material>Gazebo/Yellow</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <!-- WHEELs -->

 <ball name="m1" parent="base_link" x="0"  y="${leg}"  move="0"/>
 <ball name="m2" parent="base_link" x="${-leg}" y="0"  move="1"/>
 <ball name="m3" parent="base_link" x="0"  y="${-leg}" move="0"/>
 <ball name="m4" parent="base_link" x="${leg}"  y="0"  move="1"/>



 <gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/mybot</robotNamespace>
    <robotBaseFrame>base_footprint</robotBaseFrame>
    <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryRate>20.0</odometryRate>
  </plugin>
</gazebo>

</robot>

ball.urdf.xacro

<?xml version="1.0"?>
<robot name="ball" xmlns:xacro="http://www ...