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I don't understand the question very well, do you want to see your robot in an environment like Rviz? If this is the case, I think these tutorials will be really useful for you. http://aeswiki.datasys.swri.edu/rositraining/default These tutorials teach how to load your robot in the rviz environment, as well as other useful advices for ROS.

You should create a new node in your workspace, and subscribe to the tf topic, then you can print the values of your coordinates in this new node. I don't understand the question very well, do you want to see your robot in an environment like Rviz? If hope this is the case, I think these tutorials will be really useful for you. http://aeswiki.datasys.swri.edu/rositraining/default These tutorials teach how to load your robot in the rviz environment, as well as other useful advices for ROS.help you.