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Herbert's ROS interface runs on the robot's central controller. The user can choose to either run their code directly on the central controller for reduced latency or to run their ROS nodes on an external PC. We also have the kinematic model of Herbert inROS's native URDF file type which is an XML format used by ROS to describe the physical robot.

This kinematic model is used with Herbert's joint angle to produce a real-time model for control or can be used to visualize Herbert in RVIZ which is a standard ROS tool.

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