rviz joint_state_publisher facing problems

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I am a newbie I am trying to simulate a robotic arm on Rviz. below is the urdf code :

<robot name="ARM">

<link name="base_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://robot_description_pkg/mesh/base_link.dae"/> </geometry> </visual> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link>

 <joint name="base_joint" type="revolute">
   <parent link="base_link"/>
   <child link="shoulder_link"/>
   <origin xyz="0 0 0"/>
   <axis xyz="0 0 1" />
   <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
   <dynamics damping="50" friction="1"/>
 </joint>

<link name="shoulder_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://robot_description_pkg/mesh/shoulder_link.dae"/> </geometry> </visual> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link>

<joint name="shoulder_joint" type="revolute"> <parent link="shoulder_link"/> <child link="elbo_link"/> <origin xyz="-0.385379 0.00451305 0.398126"/> <axis xyz="0 1 0"/> <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/> <dynamics damping="50" friction="1"/> </joint>

<link name="elbo_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://robot_description_pkg/mesh/elbo_link.dae"/> </geometry> </visual> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link>

<joint name="elbo_joint" type="revolute"> <parent link="elbo_link"/> <child link="wrist_link"/> <origin xyz="-0.692963 0.022576 0.569845"/> <axis xyz="0 1 0"/> <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/> <dynamics damping="50" friction="1"/> </joint>

<link name="wrist_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://robot_description_pkg/mesh/wrist_link.dae"/> </geometry> </visual> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link>

<joint name="wrist_joint" type="revolute"> <parent link="wrist_link"/> <child link="wrist2_link"/> <origin xyz="-0.580553 -0.720985 0.109695"/> <axis xyz="0 1 0"/> <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/> <dynamics damping="50" friction="1"/> </joint>

<link name="wrist2_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://robot_description_pkg/mesh/wrist2_link.dae"/> </geometry> </visual> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link>

<joint name="wrist2_joint" type="revolute"> <parent link="wrist2_link"/> <child link="wrist3_link"/> <origin xyz="0.483333 0 0.55"/> <axis xyz="0 1 0"/> <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/> <dynamics damping="50" friction="1"/> </joint>

<link name="wrist3_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://robot_description_pkg/mesh/wrist3_link.dae"/> </geometry> </visual> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy ... (more)