added joint reader and rviz

launch/urdf_rviz.launch.py

+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'robot_description': open(
+                    '/home/admim/ros2_ws/install/ur_description/share/ur_description/urdf/ur.urdf.xacro', 'r').read()
+            }]
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            output='screen'
+        )
+    ])
\ No newline at end of file

my_robot_package/joint_reader.py

+#!/usr/bin/env python3
+
+import rclpy
+import math
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from rtde_receive import RTDEReceiveInterface
+
+class JointReaderNode(Node):
+    def __init__(self):
+        super().__init__('joint_reader')
+
+        # Replace with the IP of your UR simulator VM
+        self.rtde_r = RTDEReceiveInterface("192.168.178.144")  
+
+        self.publisher = self.create_publisher(JointState, 'joint_states', 10)
+        self.timer = self.create_timer(0.1, self.publish_joint_states)  # 10 Hz
+
+        self.get_logger().info("Connected to UR RTDE. Publishing joint states.")
+
+    def publish_joint_states(self):
+        try:
+            # UR joint names (standard 6 DOF)
+            joint_names = [
+                "shoulder_pan_joint",  # base
+                "shoulder_lift_joint",  # shoulder
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ]
+            joint_positions = None
+            joint_positions = self.rtde_r.getActualQ()  # List of 6 joint angles
+            msg = JointState()
+            msg.header.stamp = self.get_clock().now().to_msg()
+            msg.name = joint_names
+            msg.position = joint_positions
+            self.publisher.publish(msg)
+
+            joint_degrees = [round(math.degrees(p), 2) for p in joint_positions]
+            log = ", ".join(f"{n}: {d}°" for n, d in zip(joint_names, joint_degrees))
+            self.get_logger().info(f"Joint angles (deg): {log}")
+
+        except Exception as e:
+            self.get_logger().warn(f"Failed to read joint data: {e}")
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = JointReaderNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

setup.py

 from setuptools import find_packages, setup
+from glob import glob
+import os
 
 package_name = 'my_robot_package'
 
@@ -10,6 +12,7 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -20,6 +23,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+        'joint_reader = my_robot_package.joint_reader:main',
         ],
     },
 )