RMF and robot not connecting(fleet adapter)

lightrover_adapter.launch.xml

<?xml version='1.0' ?>

<launch>

  <arg name="fleet_name" default="lightrover" description="Name of this fleet of tinyRobot robots"/>
  <arg name="use_sim_time" default="false" description="Use the /clock topic for time to sync with simulation"/>
  <arg name="nav_graph_file" description="Nav graph required by fleet adapter"/>
  <arg name="finishing_request" default="nothing"
       description="What the robot should do once it finishes its tasks: [charge, park, nothing]"/>

  <group>
    <include file="$(find-pkg-share rmf_fleet_adapter)/fleet_adapter.launch.xml">

      <!-- The name and control type of the fleet -->
      <arg name="fleet_name" value="$(var fleet_name)"/>
      <arg name="control_type" value="full_control"/>

      <!-- The graph that this fleet should use for navigation -->
      <arg name="nav_graph_file" value="$(var nav_graph_file)" />

      <!-- The nominal linear and angular velocity of this fleet's vehicles -->
      <arg name="linear_velocity" value="0.22"/>
      <arg name="angular_velocity" value="1.0"/>

      <!-- The nominal linear and angular acceleration of this fleet's vehicles -->
      <arg name="linear_acceleration" value="2.5"/>
      <arg name="angular_acceleration" value="3.2"/>

      <!-- The radius of the circular footprint of this fleet's vehicles -->
      <arg name="footprint_radius" value="0.3"/>
      <!-- Other robots are not allowed within this radius --> 
      <arg name="vicinity_radius" value="0.5"/>

      <!-- Whether to use sim time -->
      <arg name="use_sim_time" value="$(var use_sim_time)"/>

      <!-- How long it can be delayed before we give up and start over -->
      <arg name="delay_threshold" value="15.0"/>

      <!-- Don't make the tinyRobot wait long to retry -->
      <arg name="retry_wait" value="10.0"/>

      <!-- Give everything time to discover -->
      <arg name="discovery_timeout" value="60.0"/>

      <!-- Can the robot drive backwards -->
      <arg name="reversible" value="false"/>

      <!-- Whether it can perform deliveries -->
      <arg name="perform_deliveries" value="true"/>
      <!-- Whether it can perform loop -->
      <arg name="perform_loop" value="true"/>
      <!-- Whether it can perform cleaning -->
      <arg name="perform_cleaning" value="false"/>
      <!-- What the robot should do once it finishes its tasks -->
      <arg name="finishing_request" value="$(var finishing_request)"/> 

      <!-- TODO Update these values with actual specs -->
      <!-- Battery parameters -->
      <arg name="battery_voltage" value="12.0"/>
      <arg name="battery_capacity" value="24.0"/>
      <arg name="battery_charging_current" value="5.0"/>

      <!-- Physical parameters -->
      <arg name="mass" value="20.0"/>
      <arg name="inertia" value="10.0"/>
      <arg name="friction_coefficient" value="0.22"/>
      
      <!-- Power systems -->
      <arg name="ambient_power_drain" value="20.0"/>
      <arg name="tool_power_drain" value="0.0"/>
      
      <!-- Whether to consider battery drain for task planning -->
      <arg name="drain_battery" value="false"/>

      <!-- Battery level at which the robot ceases to operate -->
      <arg name="recharge_threshold" value="0.1"/>
      
    </include>
  </group>
</launch>