Transform Configuration Step
Hello,
I'm using Ubuntu 14.04 and ROS indigo. I'm trying to setup my robot to be used with the navigation stack
These are the steps that I should follow before using the navigation stack:
1) Transform Configuration (other transforms)
2) Sensor Information (sensor sources)
3) Odometry Information (odometry source)
4) Base Controller (base controller)
5) Mapping (map_server)
I'm done with the first four steps and started the mapping but it didn't work. I believe that there is something wrong or missing in the first step (TF) because I don't think I got it right!
I read all tutorials and explanation regarding TF but I didn't get full understanding
I know that I should make the urdf file and publish it using robot_state_publisher package. But I'm not sure how to publish it? what is required? what is optional? and whether I need modification to fit my robot?
May anyone please explain in brief what should I do to complete the TF successfully step by step?
Thank you
