i question recently. have got urdf , stl file robot , want show in rviz. how can achieve this? thank you!
to robot visible in rviz have run node called robot_state_publisher. node parses given urdf (xarco) file , publish robot's frames given in parameter robot description, provide info rviz load model.
good example provided clearpath husky: https://github.com/husky/husky/blob/indigo-devel/husky_description/launch/description.launch
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