Coordinate Frames (Transform Frames)

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Basheer Subei edited this page Jun 1, 2015 · 2 revisions

What is a TF?

What are the current static TFs for each sensor?

Laser Scanner - base_link
GPS - base_link
IMU - base_link
camera - base_link
camera_optical - camera (this transform changes the image frame [z is out from camera and x is to the right] to the camera frame)
base_footprint - base_link

What are the dynamic TFs?