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Gazebo not publishing joint_state topic

Hello, I want to spwan panda robot in gazebo. For that i have made following files:

  1. Here is the launch file for launching gazebo.

  2. Here is the launch file for launching controllers

  3. Here and here are the controllers i have defined.

  4. Here is the robot URDF (generated from moveit setup assistant )

when i launch the panda.launch file(to launch gazebo and controllers) robot is getting spawned in gazebo. When and run rosnode info gazebo command gazebo doesn't seem to be publishing joint_state topic.