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I've worked through the tutorials on urdf and am working through tf. I have created a urdf for my physical robot. I am striving to get my robot set up to use the Nav stack and somehow had in my mind that the urdf is required and a step towards setting up the transforms for the robot, but if I read that somewhere I cannot now find it and am having a hard time getting my head wrapped around this. I understand why I need transforms, I'm starting to understand how to write the code for the transforms, I am quite confident in my abilities writing a urdf, but I don't see where, if anywhere, the two come together. Do I even need a urdf for a physical robot? I feel I am missing a big BIG part of the picture here and could use a good explanation or at least a nudge in the right direction.


Originally posted by richkappler on ROS Answers with karma: 106 on 2013-12-31

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I'd suggest looking at robot_state_publisher


Originally posted by tfoote with karma: 58457 on 2014-01-27

This answer was ACCEPTED on the original site

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Original comments

Comment by richkappler on 2014-01-27:
yup. Figured that one out about two weeks ago, just forgot to come back and close out the question. Thanks for the help though!

Comment by tfoote on 2014-01-27:
Thanks, marking the question with the checkbox is enough. It implicitly closes the question.

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