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You can add a plugin in your robot description file:

<!--Publish joint state from Gazebo-->
        <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
            <robotNamespace>your_robot_name</robotNamespace>
            <jointName>
                turret_to_rod, motor_to_wheelleft, motor_to_wheellright
            </jointName>
            <updateRate>100</updateRate>
            <alwaysOn>true</alwaysOn>
        </plugin>