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navigation urdf

asked 2019-10-23 05:59:51 -0600

Crowdeal gravatar image

updated 2019-10-23 06:00:19 -0600

Hello!

I am a new to ros

I follow the tutorial http://wiki.ros.org/navigation/Tutori...

but i didnt see anything about urdf file

If i want to use my robot to navigation

should i need a urdf about my robot ?

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Yes, you will need that or create something that at minimum publishes your transforms

stevemacenski gravatar imagestevemacenski ( 2019-10-23 11:58:08 -0600 )edit

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answered 2019-10-23 22:04:30 -0600

fergs gravatar image

You need a transform between whatever TF frame your laser is publishing data and the "base_link" or equivalent frame that is the center of your robot. There is a link in section 1.2 of the tutorial you linked: http://wiki.ros.org/navigation/Tutori... - which walks through how to make sure you have TF working.

Creating a URDF is one possible way of having the TF data - or you could use the code shown in the link above -- or possibly easiest is to use the static_transform_publisher node found in the tf2_ros package.

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Asked: 2019-10-23 05:59:51 -0600

Seen: 29 times

Last updated: Oct 23