Note: URDF and Frames¶
You are probably here because URDF, TF, base_link, base_footprint, or sensor placement feels more confusing than it should.
Likely First Answer¶
Start with URDF as a Frame Translation System.
If the Real Problem Is...¶
- link and joint structure: URDF Links, Joints, and the Robot Tree
- the overall model: URDF Fundamentals
base_linkversusbase_footprint: base_link, base_footprint, and Fixed-Frame Choices- publishing joint state and TF: robot-state-publisher and joint_state_publisher
- reuse and macros: Xacro Macros for Robot Models