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Robot Operating System Cookbook by Kumar Bipin

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Transform Frames

As we discussed in the previous section, the navigation stack needs information about the position of the sensors, wheels, and joints in the robot body's fixed frame, also known as the base_link and relationship between their coordinates frames.

We can recall our learning about the Transform Frames (TF) software library from Chapter 3, ROS Architecture and Concepts-II in ROS, which we can use to manage a transform tree. In other words, we can add more sensors and parts to the robot, and the TF library will handle all the relations for us and perform all the mathematics for us to get a transform tree that defines offsets in terms of both translation and rotation between different reference frames.

We will develop the mobile ...

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