URDF叉车模型在RVIZ仅显示车轮，VSCode预览正常问题求助

我刚接触Gazebo、ROS、RVIZ相关技术，正在为强化学习构建URDF格式的叉车机器人模型。该模型在VSCode的ROS:Preview URDF功能中可正常显示，但通过roslaunch启动后，RVIZ（版本1.14.20）仅能显示车轮部分。

启动launch文件时终端抛出惯性元素解析错误，具体报错信息如下：

roslaunch forklift rviz.launch
... logging to /home/rvl224/.ros/log/9acf8f50-73c5-11ee-8e9d-450e3298adb9/roslaunch-eervl224-3145248.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://eervl224:41535/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    joint_state_publisher_gui (joint_state_publisher_gui/joint_state_publisher_gui)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [3145282]
process[joint_state_publisher_gui-2]: started with pid [3145283]
process[rviz-3]: started with pid [3145284]
[ERROR] [1698896444.508930639]: Inertial element must have inertia element
[ERROR] [1698896444.509853268]: Could not parse inertial element for Link [base_link]
[ERROR] [1698896444.510027240]: Inertial element must have inertia element
[ERROR] [1698896444.510039679]: Could not parse inertial element for Link [forkbase_link_r]
[ERROR] [1698896444.510060477]: Inertial element must have inertia element
[ERROR] [1698896444.510071123]: Could not parse inertial element for Link [forkbase_link_l]
[ERROR] [1698896444.510093003]: Inertial element must have inertia element
[ERROR] [1698896444.510104116]: Could not parse inertial element for Link [fork_link_r]
[ERROR] [1698896444.510124657]: Inertial element must have inertia element
[ERROR] [1698896444.510135783]: Could not parse inertial element for Link [fork_link_l]
[ERROR] [1698896445.598512878]: Inertial element must have inertia element
[ERROR] [1698896445.598550758]: Could not parse inertial element for Link [base_link]
[ERROR] [1698896445.598783315]: Inertial element must have inertia element
[ERROR] [1698896445.598800076]: Could not parse inertial element for Link [forkbase_link_r]
[ERROR] [1698896445.598832292]: Inertial element must have inertia element
[ERROR] [1698896445.598845063]: Could not parse inertial element for Link [forkbase_link_l]
[ERROR] [1698896445.598877314]: Inertial element must have inertia element
[ERROR] [1698896445.598891633]: Could not parse inertial element for Link [fork_link_r]
[ERROR] [1698896445.598923755]: Inertial element must have inertia element
[ERROR] [1698896445.598936445]: Could not parse inertial element for Link [fork_link_l]

RVIZ可正常启动，但界面仅显示车轮和坐标轴。

附相关文件与截图：

• 叉车模型URDF文件
• 启动用launch文件
• VSCode与RVIZ显示对比截图

内容的提问来源于stack exchange，提问作者brian2lee