Visualizing the 3D robot model in RViz

After designing the URDF, we can view it on RViz. We can create a view_demo.launch launch file and put the following code into the launch folder. Navigate to the mastering_ros_robot_description_pkg/launch directory for the code:

<?xml version="1.0" ?>
<launch>
  <arg name="model" />
  <param name="robot_description" textfile="$(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.urdf" />
 <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true&quot...