I am having difficulty understanding how the plugin is added to the robot model that i have and also to spawn it in the gazebo world.
The above link directs you to the plugin page. I know that this question is going be very long and silly but I would like someone to go through it with me.
I added the plugins as said in the website to my ".xacro" file.
- The rfid tag plugin has a reference name "base_link". What does this mean and how it helps to spawn the Tags in the world.
- The rfid antenna plugin in the website has first a link made for the antenna which i later made a joint with the robot to position it. Then below it is the plugin with reference name as = "base_link". Why would the reference name be "base_link". Shouldn't it be the name of the antenna link?
- TF launch in the website, I am unaware of what the args are doing and where is it mapping the tags too?
Thank you
I am expecting to launch a rfid antenna and tags from the plugin to the simulation gazebo world
