I'm learning how to use robotstatepublisher using the tutorial on http://wiki.ros.org/robot_state_publisher/Tutorials/Using%20the%20robot%20state%20publisher%20on%20your%20own%20robot.

I need to output tf and tfstatic from the robotstatepublisher to run SLAM. My project is somewhat similar to Chefbot, and I'm using amcldemo launch file, along with my files which outputs odometry and tf, and runs the robot's wheels.

To be frank, I don't even konw whether doing so through is robotstatepublisher is necessary, because my bot looks similar to turtlebot and it doesn't have any moving links. Hence the tf should be same throughout. But for camera nodes to work, I require to publish tf and tf_static.

I don't know how to make a urdf xml file and how to load it on the param server. And is there a way to edit turtlebot's urdf xml to match my bot's dimensions and design?