Error in RobotModel

Hello, I have recently started learning ROS2, hard stuck due to an error:-
I wanted to build a simple robot, so I made the urdf file and added the plugins but still, the RobotModel in Rviz showed me an error…
It would be nice if someone could help me with this.

You have a missing transform link from left_wheel_link (wheel frame) to the centre of your robot which is the base_footprint. This can be corrected in your xacro file .Also check if you have joint_state_publisher_gui installed.

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