In this package only haves three launch files used for view model of Roch, view navigation of Roch and view robot.
Here we show you usage for roch_viz package.
You can checkout URDF model when you modified Roch model by following command.
roslaunch roch_viz view_model.launch
View robot you can type.
roslaunch roch_viz view_robot.launch
When you play Roch whether real robot or not in navigation, you can using under command.
roslaunch roch_viz view_navigation.launch