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You'll have to create a joint between the wheel and the hub. Along the lines of:

<joint name="hub_fixed" type="revolute">
  <parent>Wheel_Hub::body</parent>
  <child>body</child>
  <axis>
    <xyz>0 0 1</xyz>
    <limit>
      <upper>0</upper>
      <lower>0</lower>
    </limit>
  </axis>
</joint>

Put that in the Wheel model, after the </link> and before the </model>