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robot model is not moving in rviz, even though it is moving in gazebo

Hi everyone, I have a model of a car-like robot and try to create a map of my world in gazebo with hector mapping. Everything is working fine except that my robot model is not moving in rviz, when I move it in gazbeo via joystick. Thus I am not able to create a map. However, the robot is moving in rviz when I change the fixed frame to odom instead of map, but this doesn't help to create the map. that is how my frame tree looks like now. I need some help please.