How to show robot model in rviz2 (no simulation)

[slowrunner]

How are you connecting to your Create 3?

Wi-Fi (ROS 2)

Computer(s) Model(s) and Operating System(s)

Mac OS, Fusion VM, Ubuntu 20.04

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.3

Which RMW is your robot running?

FastRTPS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

Yes: 2.4GHz Home WiFi

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

Yes

What is the Adapter Board's USB/BLE Toggle currently switched to?

Bluetooth (default)

Describe your question.

After setting rviz2 to display the robot model by pointing it to the create3.urdf.acro file, do I need to start a robot_state_and_joint_publisher with the same URDF in order for rviz2 to know where and what orientation to display the model?

Will there be conflict if the URDF differs from the Create3 internal URDF? (separate question asked about where I can get that one)

[slowrunner]

Added create_robot_description under source and converted turtlebot4_robot_description to wali_robot_description, (removed rpilidar not on WaLI and modified camera Bracket to match WaLi configuration), and launch wali robot and joint state publishers launch file, so rviz2 can pick up robot description with meshes