purpose of robot_state_publisher

asked 2022-03-21 04:01:05 -0600

RH56 gravatar image

I am building a differential-wheel robot with rplidar and I am wondering if there is any reason to use the robot state publisher. My questions:

  • Why incorporate robot_state_publisher in my launch file? Does it pick the geometric robot and lidar data from the urdf and then broadcast their odometry transforms as a parent-child relation?
  • If yes, couldn't I better add that parent-child transform broadcast to my own C++ code instead of using robot_state_publisher with an urdf file?

thanks

edit retag flag offensive close merge delete

Comments

1

This is a really generic question, and one which has been discussed quite a few times on ROS Answers, IIRC.

It would be good if you could mention which Q&As you've already read on this topic, to prevent board members answering in a similar manner -- and thereby not clarifying anything.

Google works well for searching ROS Answers, just append site:answers.ros.org to your query.

gvdhoorn gravatar image gvdhoorn  ( 2022-03-21 05:22:53 -0600 )edit
add a comment