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You should use the robot_state_publisher package's state_publisher node to transform your joint states into transforms. It will subscribe to the joint_states topic and publish a TF message when a joint changes position. You will also need to provide a URDF of your robot because the state_publisher node needs to know how the joints are structured in order to calculate the transforms from the joint angles.

These transforms can be easily displayed in rviz using the TF visualization.

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