Why isn't my URDF able to show sensor in rviz, but does show in Gazebo11?

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Hi everyone,

TL;DR How to load ultrasonic in rviz/gazebo11 using Foxy? How to place the robot on the floor properly without flip it in Gazebo11 or crash it in rviz? UDRF code is at bottom.

Full post

I fail to see why can't I load sensor in rviz. I'm using Ros2 Foxy, rviz2, and gazebo11.

So, my ultrasonic sensor should be on joint called ultrasonic. It's attached with one link cylinder called head2 and the board link called sensor.

Somehow, the topic isn't appear on rviz.

Here is the screenshot:

So basically, my URDF look like this:

<?xml version="1.0"?>
<robot name="my_robot" xmlns:xacro="http://ros.org/wiki/xacro">

    <!--INCLUDE FILES-->
<!--    <xacro:include filename="$(find description)/my_robot.gazebo" />-->

  <!-- Define robot constants -->
  <xacro:property name="base_width" value="0.2159"/>
  <xacro:property name="base_length" value="0.1524"/>
  <xacro:property name="base_height" value="0.10795"/>

  <xacro:property name="wheel_radius" value="0.0325"/>
  <xacro:property name="wheel_width" value="0.02"/>
  <xacro:property name="wheel_ygap" value="0.088"/>
  <xacro:property name="wheel_zoff" value="0.05"/>
  <xacro:property name="wheel_xoff" value="0.1"/>

  <xacro:property name="caster_xoff" value="0.14"/>

  <!-- Define some commonly used intertial properties  -->
  <xacro:macro name="box_inertia" params="m w h d">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
    </inertial>
  </xacro:macro>

  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/>
    </inertial>
  </xacro:macro>

 <!-- Robot Base -->
  <link name="base_link">
    <visual>
      <geometry>
    <box size="0.2159 0.1524 0.10795"/>
      </geometry>
      <material name="Cyan">
    <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <collision>
    <geometry>
        <box size="0.2159 0.1524 0.10795"/>
      </geometry>
    </collision>

    <xacro:box_inertia m="15" w="0.2159" d="0.1524" h="0.10795"/>
  </link>

  <!-- Robot Footprint -->
  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_footprint"/>
    <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>
  </joint>


    <!-- Servos -->
    <link name ="head">
    <visual>
        <geometry>
            <cylinder radius="0.01" length="0.02"/>
        </geometry>
        <material name="white"/>
    </visual>
    <collision>
    <geometry>
        <cylinder radius="0.01" length="0.02"/>
      </geometry>
    </collision>
    <xacro:cylinder_inertia m="0.5" r="0.01" h="0.02"/>
    < ...