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URDF necessity in Nav2

asked 2022-06-01 15:27:36 -0500

r_gerson gravatar image

Is it necessary to make a URDF if we want to use nav2 if the robot is super simple physically and only has one sensor, a LiDAR sensor ? Can we do without it ?

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answered 2022-06-01 16:51:01 -0500

ljaniec gravatar image

What difficulties are you facing in creating a really simple URDF model? We may be able to help you with that instead.

Nav2 uses a lot of plugins in Gazebo that are in the URDF models. You can use an open URDF model such as TurtleBot3 (default in the tutorials of Nav2) for the start, before creating your own URDF model.

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Even if they're not using Gazebo and running it on a physical robot. Nav2 would still need a base_link to lidar_link. Which technically could just be done by using tf2 static publisher. However, as you said URDF models (especially simple ones) aren't difficult to make.

Joe28965 gravatar image Joe28965  ( 2022-06-02 03:10:34 -0500 )edit

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Asked: 2022-06-01 15:27:36 -0500

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Last updated: Jun 01 '22