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I am working on two wheeled self balancing robot on ROS1. It has three parts, left_wheel, right_wheel, body. It is a mobile robot. It has two continuous joints at two wheels.

I am trying to rotate wheels in RViz using Joint state publisher GUI. As my robot is mobile robot, I think there should not be any fixed frame in RViz.

Though model is loaded in RViz, controlling the GUI slider does not make any difference on the wheels or body.

Is it really possible to use Joint state publisher GUI to visualize motion in case of mobile robots? If so, am I missing any point?

I am using ROS1. When I import in Gazebo and simulate, the self balancing robot falls down as expected and wheel movement is visible.

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You haven't specified your ROS distribution.

For ROS 2: In principle this should work.

have a look at the diffbot example of ros2_control, I just found a tiny bug: Use ros2 launch ros2_control_demo_example_2 view_robot.launch.py from this PR.

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