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The extrinsic parameters for tf
related to kinect position on the turtlebot are present in turtlebot_calibration.xacro
file. I use ROS fuerte, in my system this file is present at /opt/ros/fuerte/stacks/turtlebot/turtlebot_description/urdf/
. Locate this file correspondingly for your system.
Using this file- x,y,z, yaw, pitch and roll of the kinect can be set.