display quadrotor yaw/pitch/roll in rviz

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Hi guys, I am working on a GUI that shows the yaw/pitch/roll angles of a quadrotor in rviz. I have a few questions: 1) How do I create a customized shape that represents my quadrotor using basic elements such as cube, cylinder, etc? Is it through urdf file? 2) After I created my quadrotor, how to I make it yaw/pitch/roll in rviz, I do have another node that publish yaw/pitch/roll data.

Thanks a lot