How to load a urdf xml robot description on the Parameter Server?

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I'm learning how to use robot_state_publisher using the tutorial on http://wiki.ros.org/robot_state_publi... .

I need to output tf and tf_static from the robot_state_publisher to run SLAM. My project is somewhat similar to Chefbot, and I'm using amcl_demo launch file, along with my files which outputs odometry and tf, and runs the robot's wheels.

To be frank, I don't even konw whether doing so through is robot_state_publisher is necessary, because my bot looks similar to turtlebot and it doesn't have any moving links. Hence the tf should be same throughout. But for camera nodes to work, I require to publish tf and tf_static.

I don't know how to make a urdf xml file and how to load it on the param server. And is there a way to edit turtlebot's urdf xml to match my bot's dimensions and design?