Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

The answer to this question is not simple. It depends on how you want your frames and what transforms are you doing and how are you doing them. Each case will require different solutions.

I recomend to make a draw about your frames and reference axes, what you want, what you have and asking yourself if the transformations you are doing have any sense by themselves.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.