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If you name the links in your urdf file identical to the TF frame names that are published by the kinect tracker. rviz places the links always based on the tf frames, not based on any joint states.

If you name the links in your urdf file identical to the TF frame names that are published by the kinect tracker. rviz places the links always based on the tf frames, not based on any joint states.

On the PR2, the robot_state_publisher node subscribes to the joint_states topic and publishes the tf frames of all links specified in the urdf. Rviz then just uses tf.

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