Join type 'continuous' rotates around wrong axis in rviz

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Hi! I'm following the urdf_tutorial and trying to make my own model. Link_2 and link_3 are connected through a joint of type continuous. I want the link_2 to rotate around the z axis, but somehow it rotates around the x axis. Even when I change <axis xyz="0 0 1"/> of the joint to <axis xyz="1 0 0"/>, or <axis xyz="0 1 0"/>, it still rotates only around the x axis. I don't get it what's wrong, because the code is very similar to that from the urdf_tutorial.

Thank you in advance!!! Here is the code.

<?xml version="1.0"?>
<robot name="my_robot">

  <link name="base_link"> 
    <visual>
       <geometry>
         <cylinder length="0.1" radius="1"/>
       </geometry>
    </visual>
  </link>

  <link name="link_2"> 
    <visual>
       <geometry>
          <box size="2 0.1 0.6"/>
       </geometry>
       <origin rpy="1.57075 0 0" xyz="0 0 0"/>
    </visual>
  </link>

  <joint name="base_to_link_2" type="fixed">
    <parent link="base_link"/>
  <child link="link_2"/>
  </joint>

  <link name="link_3"> 
    <visual>
       <geometry>
          <cylinder length="0.1" radius="0.3"/>
       </geometry>
       <material name="white"/>
    </visual>
  </link>

  <joint name="link_2_to_link_3" type="continuous">
     <parent link="link_2"/>
     <child link="link_3"/>
     <axiz rpy = "0 0 0" xyz="0 0 1"/>
     <origin rpy = "0 0 0" xyz="0 0 0"/>
  </joint>

</robot>