Following on from successfully publishing the correct message into ROS using a teensy 3.2 the next step is to control the URDF file as shown earlier with these published messages.

To do this, the URDF tutortial was used as an easy way to control the URDF file, and then by running the teensy control, RQT_Gragh confirmed the correct publishing of the messages, then by stopping the robot controller program as part of the tutorial the potentiometer iunoputs from the teensy can control the joints in the URDF file and visualised within Rviz.