TF broadcaster on robot , where to start?
Hey , i am new to ROS . Currently i am working on this robot(http://)(http://)(http://).
components
- sabertooth 2x32 motor driver
- 18aH 12v battery
- raspberry pi
- Logitech USB camera
- Line laser
- 2X 250watt ebike motors
The current configuration doesn't have a encoders . This is a big issue for determining the odom .
The bot is currently partially ROS enabled (Skid steer ) . I want to configure the bot with TF such that the camera and wheels are in the right perspective .
I am not able to figure out where to start , should i write a URDF/XACRO description of the robot and add the camera to it ?
If anyone knows some simple tutorials please point me towards that .
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