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Need help understanding urdf and tf

asked 2013-12-31 08:23:30 -0500

richkappler gravatar image

updated 2014-01-27 11:55:38 -0500

tfoote gravatar image

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.

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answered 2014-01-27 11:56:50 -0500

tfoote gravatar image

I'd suggest looking at robot_state_publisher

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<red faced=""> yup. Figured that one out about two weeks ago, just forgot to come back and close out the question. Thanks for the help though!

richkappler gravatar image richkappler  ( 2014-01-27 12:38:37 -0500 )edit

Thanks, marking the question with the checkbox is enough. It implicitly closes the question.

tfoote gravatar image tfoote  ( 2014-01-27 13:08:07 -0500 )edit

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Asked: 2013-12-31 08:23:30 -0500

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Last updated: Jan 27 '14