Show basic URDF model in Rviz2

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I'm trying to follow the URDF tutorial on ROS2. To begin I've launched Rviz2 like this:

ros2 run rviz2 rviz2

But I'm not able to see my model.

• I've selected the Description File to be my .urdf model, which I'm adding below.

• I've selected the "Fixed Frame" to be "base_link" and that solves an error, but is not enough to see the model.

This configuration can be seen here: https://imgur.com/a/J9uHVVq

I'm also getting a warning that says "No tf data. Actual Error: Frame [base_link] does not exist."

What am I missing?

My system is:

• Linux Desktop 5.3.0-46-generic #38~18.04.1-Ubuntu

• ROS2 Dashing

  <robot name="myfirst"> <link name="base_link"> <visual> <geometry> <cylinder length="0.6" radius="0.2"/> </geometry> </visual> </link> </robot>