ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
We have somewhat of an expression in my lab:
If you're using ROS, but don't have a urdf, you're doing it wrong
that is of course grossly generalising, but there is some truth there.
Whether or not you have encoders, start creating a urdf modelling the structure of your robot.
Worry about ..
2 | No.2 Revision |
We have somewhat of an expression in my lab:
If you're using ROS, but don't have a urdf, you're doing it wrong
that is of course grossly generalising, but there is some truth there.
Whether or not you have encoders, start creating a urdf modelling the structure of your robot.
Worry about ..adding other things later.
Also note: encoders (ie: wheels) are not the only source of odometry. Visual odometry and IMUs are also good sources.
3 | No.3 Revision |
We have somewhat of an expression in my lab:
If you're using ROS, but don't have a urdf, you're doing it wrong
that is of course grossly generalising, but there is some truth there.
Whether or not you have encoders, start creating a urdf modelling the structure of your robot.
Worry about adding other things later.later (such as "TF broadcasters": you'll know when you need them, right now, you don't yet).
Also note: encoders (ie: wheels) are not the only source of odometry. Visual odometry and IMUs are also good sources.