> I also wanted to know if there's a tool in ROS that can be used for a
> simple visualization of my model. May be something like roboview?
> http://eris.liralab.it/wiki/KDL-simple

The urdf has a tool that shows you the structure of your tree
<http://www.ros.org/wiki/urdf/Tutorials/Create%20your%20own%20urdf%20file>.

If you want to visualize your kinematic tree while you're moving it
around, you should use rviz in combination with the robot state
publisher <http://www.ros.org/wiki/robot_state_publisher>.

Specifically inside of rviz there is a "tf" visualization tool which will show coordinate frames published on the system. http://www.ros.org/wiki/rviz/DisplayTypes/TF

Tully

--
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)

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