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URDF is used by both to enable calculations to be performed.

http://wiki.ros.org/robot_state_publisher

'This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot.'

In simulation this is done using data generated by gazebo, for the real robot from data generated by sensors

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