Summary
In this chapter, you have published the TFs for your robot and properly packaged your application.
You first discovered that the most important node to start is robot_state_publisher, with two inputs: the URDF in the robot_description parameter, and the current states for each joint on the /joint_states topic.
From this, you started all the nodes and parameters from the terminal so that you could reproduce the output we previously had with the urdf_tutorial package.
Then, you created your own package to correctly organize your application. Here is the final architecture for this package, with all the files and folders:
~/my_robot_ws/src/my_robot_description ├── CMakeLists.txt ├── package.xml ├── launch │ ├── display.launch.py │ └── display.launch.xml ├── meshes ├── rviz...
