Missing transforms to `base_link` when launching `09a-minimal.launch.py`

[0xjairo]

Going through the tutorial https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/Using-a-URDF-in-Gazebo.html, I get these errors when I run:

ros2 launch urdf_sim_tutorial 09a-minimal.launch.py

• No transform from [box] to [base_link]
• No transform from [gripper_pole] to [base_link]
• No transform from [head] to [base_link]
• etc..

OS: Ubuntu 22.04 ROS: ROS 2 Humble