ROS in real world robot
I have been learning ros-melodic for few months and I understood to work in the simulation world with ROS by doing a simple project on lidar based collision avoidance robot. But, in order to work in my next project, in which I have to implement ROS in a real robot. Therefore I want to know how to carry out the steps in order to implement ROS in real robot. Since, I am trying to implement all the ROS nodes in the real robot without carrying out the simulation, specifically, I want to know, whether it is necessary to create the urdf file of my robot.
It will be much helpful if I get the required steps to be carried out.
Asked by Irudhaya on 2019-09-19 15:45:01 UTC
Answers
You should make a URDF because one of the most important thing in ROS are transforms. If you want to add lidar, do some mapping, or get odometry, you will need links for lidar and base_link, etc. You can take a look at these tutorials to start with.
Asked by Choco93 on 2019-09-20 01:27:48 UTC
Comments
Yes.. I want to do path planning and mapping.
Asked by Irudhaya on 2019-09-20 02:44:57 UTC
Then do I need to write tf broadcaster and listener, because I want to know the pose of the robot corresponding to the real world.
Asked by Irudhaya on 2019-09-20 03:37:22 UTC
Just make a URDF similar to your robot, and use that as your robot description, also you will need to run robot_state_publisher and joint_state_publisher and there is no need for broadcaster or listener unless you want to get some transforms within your code or publish a new transform.
Asked by Choco93 on 2019-09-20 05:17:33 UTC
Comments
You do not need a urdf file to use ros with a real robot. Assuming you're thinking about a simple 2/4 wheel robot with LIDAR and no manipulator, the steps required are detailed in the Navigation Stack tutorials. http://wiki.ros.org/navigation/Tutorials
Asked by billy on 2019-09-19 19:16:55 UTC