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Yes, you need to create a CAD model (for each link if they have DOF).

You can get binary stl files with SolidWorks, just marking the option when exporting the .stl file. You can use them straight from the CAD just take into account that the reference coordinates and units may change from SolidWorks to RViz.

If you just need a fast model you can use Google's SketchUP, I wrote this short how-to SketchUp to STL page.

If you find any exporting issues check out Meshlab