ROS in real world robot
I have been learning ros-melodic for few months and I understood to work in the simulation world with ROS by doing a simple project on lidar based collision avoidance robot. But, in order to work in my next project, in which I have to implement ROS in a real robot. Therefore I want to know how to carry out the steps in order to implement ROS in real robot. Since, I am trying to implement all the ROS nodes in the real robot without carrying out the simulation, specifically, I want to know, whether it is necessary to create the urdf file of my robot.
It will be much helpful if I get the required steps to be carried out.
You do not need a urdf file to use ros with a real robot. Assuming you're thinking about a simple 2/4 wheel robot with LIDAR and no manipulator, the steps required are detailed in the Navigation Stack tutorials. http://wiki.ros.org/navigation/Tutorials