ROS2 JointStatePublisher in the Browser

[kavikode]

Which repo branch can be used to replicate JointStatePublisher in the Browser for ROS2 Humble?

Link: https://wiki.ros.org/joint_state_publisher_js/Tutorials/Using%20JointStatePublisher%20in%20the%20Browser

I'd like to use the Tiago URDF simulation from https://github.com/pal-robotics/tiago_simulation

Also, since we are now using XACRO format for URDF, how do we convert it in ROS2 and successfully visualize and interact with the URDF in the browser?

Please provide the steps necessary. My hope it is possible using ROS 2.

Thank you so much