Coordinates seem to show overlapping but RViz doesn't
How can you place two objects that seem to overlap with their units but appear stacked on top of each other [original intent] in RViz?
I was watching this video tutorial on ROS and URDF. I have tried to paste links at the times where an image is helps to clarify but feel free to watch the video if you have the time. I have had to do links since I don't have enough reputation points to paste images. The presenter is showing how to create a joint between base link and link 01 here.
Here's the xacro file that I am confused about. If the xyz coordinates of the origin of the box are [0 0 0] and its dimensions are [1 1 1], how can the cylinder have its origin at [0 0 0.2]? Isn't it within the box? The xacro file
I considered that the xyz coordinates may be relative to the link itself but where does RViz know where to place the object in the world? Moreover, the joint is placed at [0 0 0.5] and this makes sense. Shouldn't the origin of the cylinder have been [0 0 1.2]? This is how it looks like in RViz
