TF/Gazebo not working how I wanted... [closed]

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I have a *.xacro file which assembles my robot.

I have it do something for the sort:

base_link -> sensor_yaw_joint -> sensor_yaw_link -> sensor_pitch_joint -> sensor_pitch_link -> sensor_joint -> sensor_link

sensor_yaw_joint is a continuous joint. sensor_pitch_joint is a revolute joint.

There is an actual coordinate transformation from the base_link to the sensor_yaw_joint. I have a problem where when I run the simulator, gazebo shows the object and appears to work... where rviz just shows the object at 0,0,0 and there is no tf. I don't understand how to write attach a controller to a joint, either. I wrote the controller that should control the sensor_yaw_joint and sensor_pitch_joint with no luck of figuring out how to control these.

Rviz is saying my tree is: -sensor_pitch_link -sensor_link -world -base_link -(other links)

Don't understand where sensor_yaw_link went and what is going on.

Any help would be appreciated.