diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
index 7afef4e3..548e2939 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
@@ -420,10 +420,18 @@
         <remap from="/model/$(arg name)/breadcrumb/deploy/remaining" to="breadcrumb/remaining"/>
       </node>
     </group>
-    
+
     <!-- Mapping Server -->
     <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
       <arg name="name" value="$(arg name)"/>
     </include>
   </group>
+
+  <!-- As URDF->SDF conversion "swallows" all fixed joints (and thus static transforms), we need to re-create them from the URDF  -->
+  <!-- Due to an internal limitation of robot_state_publisher, it has to be created in the global namespace. -->
+  <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher">
+    <remap from="/tf" to="/nonexistent" /> <!-- published by ign_ros bridge -->
+    <remap from="robot_description" to="/$(arg name)/robot_description" />
+  </node>
+
 </launch>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 6e67f63c..e0a5e08d 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3558,6 +3558,8 @@
       <rotation_angular_limit>1.618994</rotation_angular_limit>
     </plugin>
     <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="libignition-gazebo-joint-state-publisher-system.so">
+      <joint_name>left_track_j</joint_name>
+      <joint_name>right_track_j</joint_name>
       <joint_name>front_left_flipper_j</joint_name>
       <joint_name>front_right_flipper_j</joint_name>
       <joint_name>rear_left_flipper_j</joint_name>