Tf origin is away from the base_link

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I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf convertor. I successfully launched and robot and simulated with tele-operation node. Since i am intended to use navigation stack in i viewed the transform of the robot in rviz which resulted as below.

As you can see the base plate is the one which supports the wheels and castors but the tf of base plate is shown away from the actual link and even odom is away from the model. Where have i gone wrong and how to fix this. Refer the URDF of model below.

<?xml   version="1.0"?>
<robot
  name="JMbot">
  <link
    name="Base_plate">
    <inertial>
      <origin
        xyz="-0.3317 0.71959 -0.39019"
        rpy="0 0 0" />
      <mass
        value="0.55378" />
      <inertia
        ixx="0.0061249"
        ixy="0.00016086"
        ixz="-8.6651E-18"
        iyy="0.0041631"
        iyz="-1.4656E-17"
        izz="0.010283" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Base_plate.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.74902 0.74902 0.74902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Base_plate.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Wheel_R">
    <inertial>
      <origin
        xyz="0.010951 1.1102E-16 -1.1102E-16"
        rpy="0 0 0" />
      <mass
        value="0.45064" />
      <inertia
        ixx="0.00091608"
        ixy="-1.2355E-19"
        ixz="1.0715E-18"
        iyy="0.00053395"
        iyz="-6.7763E-20"
        izz="0.00053395" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_R.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.74902 0.74902 0.74902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_R.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wheel_R"
    type="continuous">
    <origin
      xyz="-0.14688 0.40756 -0.73464"
      rpy="-2.7127 -0.081268 -3.1416" />
    <parent
      link="Base_plate" />
    <child
      link="Wheel_R" />
    <axis
      xyz="1 0 0" />
  </joint>
  <link
    name="Wheel_L">
    <inertial>
      <origin
        xyz="-0.039049 2.2204E-16 2.498E-15"
        rpy="0 0 0" />
      <mass
        value="0.45064" />
      <inertia
        ixx="0.00091608"
        ixy="-9.6693E-19"
        ixz="-1.7816E-18"
        iyy="0.00053395"
        iyz="1.3553E-19"
        izz="0.00053395" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.74902 0.74902 0.74902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wheel_L"
    type="continuous">
    <origin
      xyz="-0.46668 0.40756 -0.70859"
      rpy="2.512 0.081268 3.4272E-15" />
    <parent
      link="Base_plate" />
    <child
      link="Wheel_L" />
    <axis
      xyz="-1 0 0" />
  </joint>
  <link
    name="Castor_F">
    <inertial>
      <origin
        xyz="2.2204E-16 0 0.031164"
        rpy="0 0 0" />
      <mass
        value="0.056555" />
      <inertia
        ixx="2.4476E-05"
        ixy="-2.8588E-35"
        ixz="1.0281E-20"
        iyy="2.4476E-05"
        iyz="-1.2617E-20"
        izz="7.4341E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy ...