GAZEBO SPAWNING UNWANTED ODOM TO BASE LINK TRANSFORM. FIX NEEDED.

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Hi all, I built my custom 4wheeler and after spawning it in gazebo, everything worked out just fine. I then decided to bring it alive by including a diff_drive controller. At this point, it all goes wrong. When I spawn the robot, in Gazebo it looks okay. But in RVIZ, there's a complaint about missing transforms between the base_footprint and the rest of the robot. As you can see from the TF diagram attached, the base_footprint link has been displaced by a new connection between the odom frame and the base_link frame. See my Robot URDF bellow

<robot name="Rover" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
<xacro:property name="wheel_thickness" value="0.12"/>
<xacro:property name="wheel_diameter" value="0.22"/>
<xacro:property name="wheel_guide_thickness" value="0.05"/>
<xacro:property name="wheel_guide_length" value="0.4"/>
<xacro:property name="wheel_guide_height" value="0.1"/>
<xacro:property name="body_length" value="0.6"/>
<xacro:property name="body_width" value="0.5"/>
<xacro:property name="body_height" value="0.3"/>
<xacro:property name="camera_width" value="0.01"/>
<xacro:property name="wheel_mass" value="0.5"/>
<xacro:property name="body_mass" value="1"/>
<xacro:property name="guide_mass" value="0.5"/>
<xacro:property name="axel_mass" value="0.5"/>
<xacro:property name="camera_mass" value="0.1"/>
<xacro:property name="kinect_mass" value="0.5"/>
<xacro:property name="pi" value="3.1415"/>
 
<xacro:macro name="default_inertial" params="mass">
  <inertial>
    <mass value="${mass}"/>
    <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  </inertial>
</xacro:macro>
 
<xacro:macro name="shape_visual" params="length width height color">
  <visual>
    <pose xyz="0 0 1.0"/>
    <geometry>
      <box size="${length} ${width} ${height}"/>
    </geometry>
    <material name="${color}"/>
  </visual>
  <collision>
    <geometry>
      <box size="${length} ${width} ${height}"/>
    </geometry> 

  </collision>
 
</xacro:macro>
 
<xacro:macro name="camera_visual" params="length width height color">
  <visual>
    <geometry>
      <box size="${length} ${width} ${height}"/>
    </geometry>
    <material name="${color}"/>
  </visual>
  <collision>
    <geometry>
      <box size="${length} ${width} ${height}"/>
    </geometry> 

  </collision>
 
</xacro:macro>
 
<xacro:macro name="wheel_guide_macro" params="prefix reflect">
<link name="${prefix}_wheel_guide">
  <visual>
    <origin xyz="0 ${reflect*wheel_guide_thickness/2} 0"/>
    <geometry>
      <box size="${wheel_guide_length} ${wheel_guide_thickness} ${wheel_guide_height}"/>
    </geometry>
    <material name="black"/>
  </visual>
  <collision>
    <geometry>
      <box size="${wheel_guide_length} ${wheel_guide_thickness} ${wheel_guide_height}"/>
    </geometry> 

  </collision>
  <xacro:default_inertial mass="${guide_mass}"/>
</link>
<joint name="${prefix}_wheel_guide_joint" type="fixed">
  <axis xyz="0 1 0" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="${prefix}_wheel_guide"/>
  <origin xyz="0 ${reflect*body_width/2} 0" rpy="0 0 0"/>
   
</joint>
<gazebo reference="${prefix}_wheel_guide">
  <gravity value="true"/>
    <mindepth>0.00001</mindepth>
  <material>Gazebo/Grey</material>
</gazebo>
</xacro:macro>
 
<xacro:macro name="wheel_axle_macro" params="prefix suffix reflect1 reflect2"> 
<link name="${prefix}_${suffix}_wheel_axle">
  <visual>
    <origin xyz="0 0 0" rpy="0 ${reflect2*2.0*pi/3} 0"/>
    <geometry>
      <cylinder radius="${wheel_guide_height*0.2}" length="${wheel_guide_length/2}"/>
    </geometry>
   <material name="black"/>
  </visual>
  <collision>
    <geometry>
      <cylinder radius="${wheel_guide_height*0.2}" length="${wheel_guide_length/2}"/>
    </geometry> 

  </collision>
  <xacro:default_inertial mass="${axel_mass}"/>
</link>
<joint name="${prefix}_${suffix}_wheel_axle_joint" type="fixed">
  <parent link="${prefix}_wheel_guide"/>
  <child link="${prefix}_${suffix}_wheel_axle"/>
  <origin xyz="${reflect2*wheel_guide_length ...