Calibration Monitoring

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Dear community,

we are working with different outdoor robots and we always have problems regarding sensor-replacements during run. That cause problems for all nodes which require calibrated sensors. Is there any tool for ROS, which cross-check the calibration of different sensors? A short example: a camera is rotated by accident. The system discover, that IMU and lidar haven't moved and send a signal to the observer.

Thanks in advance