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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>