There are different URDFs for simulation and the real world that need to be merged. Currently the real world URDF has an additional base_footprint link that the simulation URDF does not have. Additionally, the transforms for the base to wheels are different between the two URDFs
There are different URDFs for simulation and the real world that need to be merged. Currently the real world URDF has an additional
base_footprint
link that the simulation URDF does not have. Additionally, the transforms for the base to wheels are different between the two URDFs