How to make ROS differential drive robot move forward with teleop?

edit

Hi. I'm new to ROS and Gazebo simulation. I tried to create a differential drive robot for various experiments such sa SLAM etc.

I have set my joint to rotate on the y-axis as setting them on x or z makes them move weird. But when I try to make my robot move forward using teleop, the wheels move vertically instead of horizontally.

Tried on Ubuntu 18.04 LTS, ROS Melodic, Gazebo 9 and 20.04 LTS, ROS Noetic, Gazebo 11

EDIT: Added yaml code

EDIT2: Added launch code

Here is the relevant part of my urdf:

 <link name="base_link">
 </link>

<joint name="base_joint" type="fixed">
    <parent link="base_link"/>
    <child link="chassis"/>
</joint>

<link name="chassis">

    <inertial>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <mass value="25"/>
        <inertia ixx="3.002" ixy="0.0" ixz="0.0" iyy="4.011" iyz="0.0" izz="2.8465"/>
    </inertial>
    <visual name="chassis_visual">
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <geometry>
            <box size="0.962 0.664 1" />
        </geometry>
    </visual>
    <collision name="chassis_collision">
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <geometry>
            <box size="0.962 0.664 1" />
        </geometry>
    </collision>
</link>

<link name="front_left_wheel">
    <inertial>
        <origin xyz="0.3 0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <mass value="5"/>
        <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.02"/>
    </inertial>
   <visual name="front_left_wheel_visual">
        <origin xyz="0.3 0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <geometry>
            <cylinder radius="0.1" length="0.1"/>
        </geometry>
    </visual>
    <collision name="front_left_wheel_collision">
        <origin xyz="0.3 0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <geometry>
            <cylinder radius="0.1" length="0.1"/>
        </geometry>
    </collision>
</link>

<link name="front_right_wheel">
    <inertial>
        <origin xyz="0.3 -0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <mass value="5"/>
        <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.02"/>
    </inertial>
    <visual name="front_right_wheel_visual">
        <origin xyz="0.3 -0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <geometry>
            <cylinder radius="0.1" length="0.1"/>
        </geometry>
    </visual>
    <collision name="front_right_wheel_collision">
        <origin xyz="0.3 -0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <geometry>
            <cylinder radius="0.1" length="0.1"/>
        </geometry>
    </collision>
</link>

<link name="rear_left_wheel">
    <inertial>
        <origin xyz="-0.3 0.232 -0.525" rpy="1.5707 0.0 0.0"/>
        <mass value="5"/>
        <inertia ixx="0.02" ixy="0.0" ixz="0.0 ...