Update model pose in RVIZ2

edit

Hi, I have a .urdf file with two links and one joint:

• A base_link representing the ground
• Link_1 is a cube representing my "robot"
• A planar joint representing the transformation between base_link and link_1

I also have a node publishing geometry_msgs.posestamped messages describing the orientation and position of the model in space.

How do I make my model subscribe to the published topic so that my model moves to the published pose in rviz2? (I am running ROS2 Dashing)

Thanks in advance!