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]

I recommend taking a look at the /tf wiki page and learning how the ROS handles transforms. You can also take a look at this paper to learn a bit more detail than the wiki page provides.

Finally, you can take a look at Introduction to Autonomous Mobile Robots by Roland Siegwart and Illah R. Nourbakhsh.

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.