Robot is misbehaving in rviz

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Hello Guys,

I have been developing a Mecanum Wheeled robot simulation using Gazebo and Rviz. I have written a URDF which you can see below. After this, a map was built using teleoperation and the gazebo plugin for Mecanum Robot. I used both gmapping and hector slam for this. The picture of the map is attached to this post. Then in rviz after sending the goal, I expect the robot to go to that position using global planner, dea/teb local planner whichever is selected in the launch file. Also, in the URDF mentioned below I have not attached the Mecanum plugin but it is used in my final urdf. This is just a snippet of the body and wheels.

But the problem I am facing is can be seen in the video attached below. The robot just stutters and does weird things like only the body moves and the wheels do not. Therefore, I think the problem is either with the URDF or move_base but I am not quite sure. Hence, I would really appreicate any help I get. Unfortunately I do not know how to attach a video to this and whether it is permitted or not. Hence I will attach some Images and I hope you guys get the gist of the problem.

Edit: Can someone please inform me how to upload images? The attachment button doesn't seem to work.

Thank You.

    <!-- Base Footprint Link and Joint Definition -->
<link name="base_footprint"/>

<joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0.076" rpy="0 0 0"/>
</joint>

<link name="base_link">
    <visual>
        <geometry>
            <mesh filename="package://agv_description/meshes/Autonomous_Vehicle/V3_body_Assembly.stl" scale="0.01 0.01 0.01"/>
        </geometry>
        <material name="blue"/>
        <origin xyz="0 0 0.01423" rpy="0 0 0" />
    </visual>

    <collision>
        <geometry>
            <mesh filename="package://agv_description/meshes/Autonomous_Vehicle/V3_body_Assembly.stl" scale="0.01 0.01 0.01"/>
        </geometry>
        <origin xyz="0 0 0.01423" rpy="0 0 0" />            
    </collision>

    <inertial>
        <origin xyz="0.25 -0.25 0.15" rpy="0 0 0"/>
        <mass value="18.316"/>
        <inertia ixx="0.519" ixy="0.0" ixz="0.0"
                 iyy="0.519" iyz="0.0"
                 izz="0.763"/>
    </inertial>

</link>


<!-- ************ Left Rear Wheel and Joint ********** -->
<link name="left_rear_wheel">

    <visual>
        <geometry>
            <mesh filename="package://agv_description/meshes/Autonomous_Vehicle/V3_Wheel_Assembly_1.stl" scale="0.01 0.01 0.01"/>
        </geometry>
        <material name="red"/>
        <!--origin xyz="0 -0.025 0" rpy="0 0 -3.142"/-->
        <!--origin xyz="0.076 0.1275 0.076" rpy="0 0 0"/-->
        <origin xyz="0 -0.0842 0" rpy="0 0 -3.142"/>
    </visual>


    <collision>
        <geometry>
            <mesh filename="package://agv_description/meshes/Autonomous_Vehicle/V3_Wheel_Assembly_1.stl" scale="0.01 0.01 0.01"/>
        </geometry>
        <!--origin xyz="0.076 0.1275 0.076" rpy="0 0 ...