Display content based on taxonomy with view
You would use /taxonomy/term/% - which is a default view, you don't have to create it. The view should show Fields of body content or whatever other fields you you have associated with the node that you wish to display.
Your content types also need to have fields where the correct taxonomy categories can be selected when creating the node. 
Your view "Sort" and "Filter" criteria will determine how these nodes are ordered. 

To preview your view, use /numerical term ID of your taxonomy term

To get your nodes to display, create a menu with the same parent-child structure as your taxonomy terms and set the menu paths as the taxonomy term ID. You would then display this menu as a block either on a page or in a sidebar.