How do I display my own URDF in rviz?

edit

Hello!

This might be a dumb question, but how do I view my own URDF File in rviz?

My approach so far:

1. Create a new catkin package named "myrobot_description" with dependencies on the urdf package
2. Create a folder urdf in the folder myrobot_description/urdf
3. Create a valid URDF-File (as far as check_urdf is concerned)
4. Build the package with catkin_make install
5. Source the package by invoking source setup.bash in the install folder
6. Copy the launch files and folder from the urdf_tutorial folder to the install/share/myrobot_description folder (this doesn't feel right.)

7. Copy the URDF folder from the src/myrobot_description/ folder to the install/share/myrobot_description folder (wtf, this doesn't feel right AT ALL)

8. Edit the display.launch file like this:

   <launch>
   <arg name="gui" default="False" />
   <param name="robot_description" textfile="/home/viki/catkin_ws/install/share/myrobot_description/urdf/myrobot.urdf" />
   <param name="use_gui" value="$(arg gui)"/>
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="/home/viki/catkin_ws/install/share/myrobot_description/myrobot.rviz" required="true" />
   

   </launch>

9. Launch rviz via roslaunch myrobot_description display.launch

10. End up with a white block in rviz and Errors concerning a missing base frame

Now, as you can see, I just play around helpless and do not understand the whole process - but I do not find any ressources on how to craft a correct launch file or on "registering" my package or using rviz or which directory I should use for building URDF models etc.

I appreciate any help and pointers in any direction.

Thanks. :)