To add a Rviz configuration to the launch files follow the below steps:

1st Step: From Rviz, save a configuration with .rviz extension in the home directory

• Launch Rviz from the terminal.
• Under Global Options —> Fixed Frame, change it to base_footprint, as shown below:

• Add the RobotModel and TF, as shown below:

• Under RobotModel —> Description Topic, set it to /robot_description, as shown below:

• Go to File —> Save Config As

Save the file in the home directory by name of urdf_config.rviz:

2nd Step: Move the urdf_config.rviz File to the Rviz Folder

• In VS Code, under the my_robot_description package, create a new folder named as rviz