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]

You can use the tf_broadcaster to specify where the coordinate systems of your sensors are. The broadcaster will send these transforms to the tf tree so other nodes can use it. The tf_listener is used to query the tf tree. You can use a tf_listener if you want to know the transformation between two frames in the tf tree. But for your application, it doesn't seem like you need it.

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.