When developing for ROS, you will have to create the URDF of your robot. If your robot is complex and contains lots of different joints, you would like to test how is it going and if you are building the model properly. Here we provide you with a method to check the status of your robot URDF model.
Related ROS Answers Question: https://answers.ros.org/question/187815/how-do-i-display-my-own-urdf-in-rviz/
1- Understanding TF: https://www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/ros-courses-library/tf-ros-101/