Only base_link is detected in rviz

<?xml version="1.0"?>
<robot name="mira">

 <material name="blue">
        <color rgba="0 0 0.8 1"/>
    </material>
    <material name="red">
        <color rgba="0.8 0 0 1"/>
    </material>
    <material name="green">
        <color rgba="0 0.8 0 1"/>
    </material>
    <material name="grey">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>
    <material name="white">
        <color rgba="1.0 1.0 1.0 1"/>
    </material>
    <material name="black">
        <color rgba="0 0 0 1"/>
    </material>

    <link name = "base_link">
        <visual>
            <origin xyz="0 0 0.045" rpy="0 0 0"/>
            <geometry>
                <cylinder radius = "0.06" length ="0.09"/>
            </geometry>
            <material name="grey">
        </visual>
    </link>
    <link name = "roll_M1_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder radius = "0.06" length ="0.09"/>
            </geometry>
            <material name="red">
        </visual>
    </link>

    <link name = "pitch_M2_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder radius = "0.01" length ="0.005"/>
            <material name="green">
            </geometry>
        </visual>
    </link>
    <link name = "yaw_M3_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder radius = "0.01" length ="0.005"/>
            <material name="blue">
            </geometry>
        </visual>
    </link>
    <link name = "head_link">
        <visual>
            <origin xyz="0 0 0.12" rpy="0 0 0"/>
            <geometry>
                <sphere radius = "0.06"/>
            </geometry>
            <material name="white">
        </visual>
    </link>
    <link name = "left_eye_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder radius = "0.00525" length = "0.00525"/>
            </geometry>
            <material name="black">

        </visual>
    </link>
    <link name = "right_eye_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder radius = "0.00525" length = "0.00525"/>
            </geometry>
                <material name="black">

        </visual>
    </link>
    <link name = "camera_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size = "0.0005 0.0005 0.0005"/>
            </geometry>
        
        </visual>
    </link>

    <joint name="roll_joint" type="revolute">
        <parent link="base_link"/>
        <child link="roll_M1_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" />
        <axis xyz="1 0 0"/>
    </joint>

    <joint name="pitch_joint" type="revolute">
        <parent link="roll_M1_link"/>
        <child link="pitch_M2_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" />
        <axis xyz="1 0 0"/>
    </joint>
     <joint name="yaw_joint" type="revolute">
        <parent link="pitch_M2_link"/>
        <child link="yaw_M3_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" />
        <axis xyz="1 0 0"/>
    </joint>
    <joint name="base_head_joint" type="revolute">
        <parent link="yaw_M3_link "/>
        <child link="head_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" />
        <axis xyz="1 0 0"/>
    </joint>
    <joint name="head_righteye_joint" type="fixed">
        <parent link="head_link "/>
        <child link="right_eye_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <axis xyz="1 0 0"/>
    </joint>
    <joint name="head_lefteye_joint" type="fixed">
        <parent link="head_link"/>
        <child link="left_eye_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <axis xyz="1 0 0"/>
    </joint>
    <joint name="head_camera_joint" type="fixed">
        <parent link="head_link "/>
        <child link="camera_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <axis xyz="1 0 0"/>
    </joint>
</robot>

when the i launch only the base_link that

appears

Hello @mobarak.karim ,

Could you please provide some additional information? What unit / exercise are you following? Thanks in advance.