Hi

I am adding an IMU to the irobotcreate base. If the IMU is not positioned on the baselink frame (body frame of robot) do you have to provide some kind of transform showing where the imu is relative to the baselink?

Also is the base_link frame physically located on the centre of the wheel axis of the create base?

Because i need to provide a transform from the baselink to the laser frame, but i measure this without knowing where the baselink frame is on the create base. The baselink frame is published by the createdrivers.