vcg files are just configuration files for rviz.  rviz visualizes data on a
running ROS network.  bag files are simply stored data from a ROS network
that can be replayed using rosbag.

http://www.ros.org/wiki/rosbag
 <http://www.ros.org/wiki/rosbag>http://www.ros.org/wiki/rviz
<http://www.ros.org/wiki/rviz>
http://www.ros.org/wiki/rviz/DisplayTypes/RobotModel
 <http://www.ros.org/wiki/rviz/DisplayTypes/RobotModel>
http://www.ros.org/wiki/urdf

<http://www.ros.org/wiki/urdf>Josh

On Sun, Jul 4, 2010 at 9:03 PM, j2eegirl <dp@zju.edu.cn> wrote:

>
> I got a bag file about the robot tf and the pointcloud information, as well
> as a xml file named pr2.urdf. I know rviz is a visual tool for vcg file,
> may
> I use the rviz package to visualize the bag file? If not, is there any
> other
> way to visualize the bag?
> I just have the above files as well as some stl models, without any other
> source. What should I do? Thank you.
> --
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