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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 ?
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.
Asked: 2019-10-23 05:59:51 -0500
Seen: 320 times
Last updated: Oct 23 '19
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Yes, you will need that or create something that at minimum publishes your transforms