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Hub to Wheel joint is fixed and rotation axis is not defined #2

@MartinNievas

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@MartinNievas

<joint name="caster_${wheel}_wheel_joint" type="fixed">

Also (rotation axis?) is not defined here:

<joint name="base_caster_${wheel}_swivel_joint" type="continuous">
<origin rpy=" 0 0 0" xyz="${origin_xyz}"/>
<anchor xyz="0 0 0"/>
<limit effort="100" velocity="100" k_velocity="0" />
<joint_properties damping="0.0" friction="0.0" />
<parent link="link_chassis"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<child link="caster_${wheel}_swivel"/>
</joint>

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