Is it possible to simulate the cool500 arm in rviz? I don't have the servos and the robot...

[marcusvinicius178]

I have kinetic ROS and ubuntu 16.04.
I had some erros, than later I installed all the packages of dynamixel and so, afte catkin_make I could compile the package of cool500 arm from the end of chapter 10.
I would like ate least to see the move of the arm in RVIZ. but I had the following error messages:

[INFO] [1562018491.495060]: dynamixel_port controller_spawner: waiting for controller_manager dxl_manager to startup in global namespace...
[INFO] [1562018491.497615]: meta controller_spawner: waiting for controller_manager dxl_manager to startup in global namespace...
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/dynamixel_controllers/controller_manager.py", line 266, in
manager = ControllerManager()
File "/opt/ros/kinetic/lib/dynamixel_controllers/controller_manager.py", line 107, in init
serial_proxy.connect()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_serial_proxy.py", line 99, in connect
self.dxl_io = dynamixel_io.DynamixelIO(self.port_name, self.baud_rate, self.readback_echo)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_io.py", line 67, in init
self.ser = serial.Serial(port, baudrate, timeout=0.015)
File "/usr/lib/python2.7/dist-packages/serial/serialutil.py", line 180, in init
self.open()
File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 294, in open
raise SerialException(msg.errno, "could not open port %s: %s" % (self._port, msg))
serial.serialutil.SerialException: [Errno 2] could not open port /dev/ttyUSB0: [Errno 2] No such file or directory: '/dev/ttyUSB0'
================================================================================REQUIRED process [dynamixel_manager-1] has died!
process has died [pid 1666, exit code 1, cmd /opt/ros/kinetic/lib/dynamixel_controllers/controller_manager.py __name:=dynamixel_manager __log:=/home/marcus/.ros/log/6463563a-9c48-11e9-b9e2-c82158f9534e/dynamixel_manager-1.log].
log file: /home/marcus/.ros/log/6463563a-9c48-11e9-b9e2-c82158f9534e/dynamixel_manager-1.log
Initiating shutdown!*

[joint_state_aggregator-4] killing on exit
[controller_spawner_meta-3] killing on exit
[controller_spawner-2] killing on exit
[dynamixel_manager-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I do not have the dynanixel servos and not the arm, but should I see the arm in RVIZ...
obs: I ALSO DO NOT FOUND THE "demo.launch" in moveit config directory
where could I find? Or must I setup in moveit from beggining as in previous lessons?