[ros-users] How do I overlay grippers and frames on images?

Hello.

I'd like to overlay grippers and linkage frames on images just like adding a
camera display in rviz would overlay those with cad robot model of grippers
and coordinate axes for linkage frames.

I found out a tutorial page where the origins of linkage frames are
projected onto the images but I need actual display of axes not only the
origins.

What would be the easiest way to do this?

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