Rviz extremely slow when showing urdf model

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Hello everyone,

I have 2 problems the first is I have created an urdf model of Robot(see image) and when I want to visualize the model in rviz it takes more than 15 min to show, but when I visualize the model in gazebo it doesn't take long but it's slow to respond.

the second is when i change the link position and spawn it in gazebo(takes the change correctly) but when i spawn the model in rviz(showed wrong position compared to gazebo) and vice versa

I am using ROS Kinetic Kame, VMware pro 15, Ubuntu 16.04 LTs

someone can help me.

<?xml version="1.0"?>
<launch>
<arg name="model" />
<include file="$(find gazebo_ros)/launch/empty_world.launch"/>
<param name="robot_description" textfile="$(find mybot_descriptions)/src/urdf/turtle.urdf" />

<param name="use_gui" value="true"/>

  <!-- robot state publisher -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" value="30.0"/>
    <param name="use_gui" value="true"/>
  </node>

  <!-- joint state publisher -->
  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
    <param name="rate" value="30.0"/>
    <param name="use_gui" value="true"/>
  </node>

<node pkg="gazebo_ros" type="spawn_model" name="spawn_tb3" respwan="true" args="param robot-description -urdf -model turtle"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mybot_descriptions)/src/urdf.rviz" required="true" />

</launch>

<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" ><!--xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>

  <xacro:property name="r200_cam_rgb_px" value="0.005"/>
  <xacro:property name="r200_cam_rgb_py" value="0.018"/>
  <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
  <xacro:property name="r200_cam_depth_offset" value="0.01"/>-->

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>

  <link name="base_link">
    <visual>
    <origin xyz="-0.198 -0.136 -0.027" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://mybot_descriptions/src/meshes/bases/base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="orange"/>
    </visual>

   <collision>
    <origin xyz="-0.064 0 0.400" rpy="0 0 0"/>
<!--      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>-->
      <geometry>
        <box size="0.266 0.266 0.900"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="1.3729096e+00"/>
      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
               iyy="8.6195418e-03" iyz="-3.5422299e-06"
               izz="1.4612727e-02" />
    </inertial>
  </link>

  <joint name="wheel_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_left_link"/>
    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_left_link ...