[ros-users] How to use rviz to display a bag file contents?

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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