Rotation of wheels of a car

what is wanted to do is to rotate wheels of my car but tiers are rotating round my car as you can see in picture.
the Script i am using is written below

   using UnityEngine;
   using System.Collections;

public class CarController : MonoBehaviour {
    public WheelCollider TireFR;
    public WheelCollider TireFL;
    public WheelCollider TireRR;
    public WheelCollider TireRL;
    public float MaxSpeed = 100;
    public float angle = 10;
    public Transform CenterOfGravity;
    public Transform TireTransformFR;
    public Transform TireTransformFL;
    public Transform TireTransformRR;
    public Transform TireTransformRL;

    Rigidbody rb;

    public void ApplyLocalPositionToVisuals(WheelCollider collider)
    {
        if (collider.transform.childCount == 0)
        {
            return;
        }

        Transform visualWheel = collider.transform.GetChild(0);

        Vector3 position;
        Quaternion rotation;
        collider.GetWorldPose(out position, out rotation);

        visualWheel.transform.position = position;
        visualWheel.transform.rotation = rotation;
    }

    // Use this for initialization
    void Start () {
        rb = GetComponent<Rigidbody>();
        rb.centerOfMass = CenterOfGravity.localPosition;

            	}

    void Update()
    {
        TireTransformFL.Rotate ( TireFL.rpm / 60 * 360 * Time.deltaTime, 0, 0);
        TireTransformFR.Rotate ( TireFR.rpm / 60 * 360 * Time.deltaTime,0,0);
        TireTransformRL.Rotate ( TireRL.rpm / 60 * 360 * Time.deltaTime, 0, 0);
        TireTransformRR.Rotate ( TireRR.rpm / 60 * 360 * Time.deltaTime, 0, 0); 

    }

                    	// Update is called once per frame
    void FixedUpdate () { 

        TireRR.motorTorque = MaxSpeed * Input.GetAxis("Vertical");
        TireRL.motorTorque = MaxSpeed * Input.GetAxis("Vertical");
        TireFL.steerAngle = angle * Input.GetAxis("Horizontal");
        TireFR.steerAngle = angle * Input.GetAxis("Horizontal");
        ApplyLocalPositionToVisuals(TireFL);
        ApplyLocalPositionToVisuals(TireFR);
        ApplyLocalPositionToVisuals(TireRL);
        ApplyLocalPositionToVisuals(TireRR);
    }
 }

Make sure your art assets position for the wheel is zerod out. I am guessing it is a child and you accidentally moved it instead of whatever its parent is.