joint_state_publisher: UnicodeEncodeError: 'ascii' codec can't encode character u'\u0130' in position 28396: ordinal not in range(128)

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Robot : Eva Robot OS: ubuntu 16.04 /kinetic

I start working on a real-state robot. i was able to link the robot on my workstation and i can see all the topics on my work station. however, for visualizing the robot on rviz i can see all the joints links but not the wheels .wheels will be separated (i attached my TF tree). for launching my real-state robot I use launch file with the urdf and two nodes (robot_state_publisher , joint_state publisher ). joint state publisher alwayes give me the below error :

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 44, in <module>
    jsp = joint_state_publisher.JointStatePublisher()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py", line 157, in __init__
    robot = xml.dom.minidom.parseString(description)
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
    return expatbuilder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
    return builder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
    parser.Parse(string, True)
UnicodeEncodeError: 'ascii' codec can't encode character u'\u0130' in position 28396: ordinal not in range(128)
[joint_state_publisher-3] process has died [pid 7032, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher 
__log:=/home/moh/.ros/log/638a2d20-50f6-11ea-8fb1-983b8fb9a8e3/joint_state_publisher-3.log].
log file: /home/moh/.ros/log/638a2d20-50f6-11ea-8fb1-983b8fb9a8e3/joint_state_publisher-3*.log

My real state launch file:-

<?xml version="1.0"?>
<launch>
  <arg name="robot_ns" default="/"/>
  <node pkg="robot_state_publisher" name="robot_state_publisher" type="state_publisher"/>
  <param name="robot_description" textfile="$(find evarobotmodel_description)/urdf/evarobotmodel.urdf"/>
  <param name="publish_frequency" type="double" value="10.0"/>
  <param name="tf_prefix" type="string" value="$(arg robot_ns)"/>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" type="bool" value="false"/>
  </node>
</launch>

My TF tree:-

note: the previous Urdf works fine with gazebo . so I'm not sure if its URDf problem or joint _state _publisher issue.

kindly advise how to correctly see my robot in RVIZ and have the correct TF tree?

urdf file :

<?xml version="1.0" encoding="UTF-8"?>
<robot name="evarobotmodel">
  <link name="base_footprint">
    <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 0" rpy="0 0 0"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <!--BASE -->
  <link name="base_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.4 0.3 0.3"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0.065 -0.11 -0.15" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://evarobotmodel_description/meshes/base.dae"/>
      </geometry>
      <material name="Gazebo/Black"/>
    </visual>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0 ...