In Rviz, how can I mesh a URDF or an STL file with an AprilTag using the apriltags2_ros node?

edit

In Rviz, I am trying to mesh a URDF or a simple STL file of a hand with an AprilTag being tracked in the real world from a 3D camera by using the apriltags2_ros node, but I am unsure of how to do that. I can already run the aforementioned node which displays the tri-axes in Rviz which are representative of the apriltag moving in the real world, but I would like to replace those axes with a 3D image. I also already have a URDF model created, and tried extracting relevant steps from this URDF tutorial, but I could not get the robot_description to mesh with the apriltags.