If you are using your urdf file as it is, it is unlikely you have all the terms needed for the “Usd Setup holonomic” node to work. I see you also posted on a different thread about this robot. Did you follow the steps mentioned earlier in that thread about saving your robot into a .usda file first and search for terms like “mecanum” to check if you have all the necessarily paramters first?
Your .usd (or .usda) file need to have all of the following terms in order for the “usd setup holonomic” node to work: the wheel radius, positions and orientations (relative to center of mass of the vehicle), the mecanum angles of each wheel, and the axis of the wheels relative the chassis axis.
if you are missing any of the fields, you can manually modify the .usda file to include them (for this you can use kaya as a reference file). You can also not use the USd setup holonomic node, and just put in all the numbers you need for the holonomic controller directly.