Hi all,
I have turtlebot2, groovy, turtlebot arm. In reading the tutorial Using urdf with [robot_state_publisher](http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher), I'm confused in its launch file.
**Why there are two "state_publishers" ?**
one is "`robot_state_publisher`", and the other is "`state_publisher`")
By saying "***need a method for specifying what state the robot is in***" the tutorial points out the function of "`state_publisher`",
But in checking [robot_state_publisher](http://wiki.ros.org/robot_state_publisher) package we can see the function of `robot_state_publisher` is "**allows you to publish the state of a robot to tf**", which seems similar to the function of "`state_publisher`".
My goal is to broadcaster TF info, so my turtlebot arm can do grasping based on it(which have tf listening function). I have a URDF of turtlebot with arm.
Thanks for your help!
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