[gzclient -2] Node::Advertise(): Error advertising topic [/my_bot/joint_cmd]. Did you forget to start the discovery service?

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Hello you awesome people,

I am very new to gazebo. as of now I am trying to integrate ROS2 + URDF + gazebo but I keep getting this error message whenever I try to move the model in gazebo

[gzclient -2] Node::Advertise(): Error advertising topic [/my_bot/joint_cmd]. Did you forget to start the discovery service?

Any help would be highly appreciated. I am using - Gazebo multi-robot simulator, version 11.13.0

Please let me know if you need any further details.

Thanks!