URDF necessity in Nav2
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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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 ?
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.
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.
Asked: 2022-06-01 15:27:36 -0500
Seen: 115 times
Last updated: Jun 01 '22
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