RViz does not show robot appearance (RViz tutorials: building from scratch)

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I follow examples from URDF Tutorial

/opt/ros/melodic/share/urdf_tutorial$ roslaunch urdf_tutorial display.launch model:=urdf/01-myfirst.urdf
... logging to /home/loic/.ros/log/e042da92-b408-11e8-943d-0800271f9a30/roslaunch-duneton-1649.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://duneton:36715/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_gui: True

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [1668]
process[robot_state_publisher-2]: started with pid [1669]
process[rviz-3]: started with pid [1670]
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile

But no cylinder appears in RViz.

I check with all examples of the tutorials. I have never surfaces, only axes (3 colors). Here with second example :

I attempted on raspbian or debian (in virtualbox) both on stretch with melodic.

Here result of rviz -l :

$ rviz -l
[ INFO] [1536482904.257117783]: rviz version 1.13.1
[ INFO] [1536482904.257388186]: compiled against Qt version 5.7.1
[ INFO] [1536482904.257487083]: compiled against OGRE version 1.9.0 (Ghadamon)
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1536482904.685238303]: Creating resource group General
[ INFO] [1536482904.687125902]: Creating resource group Internal
[ INFO] [1536482904.687552964]: Creating resource group Autodetect
[ INFO] [1536482904.688166683]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1536482904.688802900]: Registering ResourceManager for type Material
[ INFO] [1536482904.689102672]: Registering ResourceManager for type Mesh
[ INFO] [1536482904.689424830]: Registering ResourceManager for type Skeleton
[ INFO] [1536482904.689878576]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [1536482904.690274812]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [1536482904.690607003]: ArchiveFactory for archive type Zip registered.
[ INFO] [1536482904.690938489]: ArchiveFactory for archive type EmbeddedZip registered.
[ INFO] [1536482904.691240849]: DDS codec registering
[ INFO] [1536482904.691554838]: FreeImage version: 3.17.0
[ INFO] [1536482904.691856134]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details
[ INFO] [1536482904.692326252]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,rgb,rgba,bw,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti,x3f,webp,jxr,wdp,hdp
[ INFO] [1536482904.692661188]: PVRTC codec registering
[ INFO] [1536482904.693022279]: ETC codec registering
[ INFO] [1536482904.693330290]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [1536482904.693647514]: Registering ResourceManager for type Compositor
[ INFO] [1536482904.694163050]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [1536482904.694474254]: MovableObjectFactory for type 'Light' registered.
[ INFO] [1536482904.694783022]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO ...