How to view the state of joints in rviz after using ros_control?

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@jarvisschultz When was the /robot_name/joint_states topic created?

Even though, IMO, this is a terrible name, that's what the joint_state_controller/JointStateController plugin does. See the description on its official wiki page: http://wiki.ros.org/joint_state_contr...

Sir, the wiki just shows some information about joint_state_controller/JointStateController.

I installed the RRbot mentioned on this page. During the process of using RRbot, I observed the current topic list via rostopic list and found out that there was a /joint_states topic after starting robot_state_publisher node

or joint_state_publisher node. When I launched rrbot_world.launch, rrbot_control.launch and rrbot_rviz.launch simultaneously, there was a /joint_states topic and a /rrbot/joint_states topic due to the use of a <remap> tag in rrbot_control.launch.

I uploaded a picture in the content of the question. The content of the picture is the graph of what's going on in the system, which is obtained by rqt_graph. I am now confused about the meaning of /joint_states and /rrbot/joint_states.

The first line on the linked wiki page under Package summary says "Controller to publish joint states."

I'm confused as to what your actual question is. With a joint_state_controller/JointStateController plugin loaded, Gazebo should publish joint states information (the name of this topic is remappable). The robot_state_publisher needs to subscribe to that joint state info, and be able to read...