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 robotstatepublisher 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