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The only transform that the state estimation nodes in r_l will produce will be from your world frame (e.g., odom) to your robot's body frame (e.g. base_link).
The state estimation nodes assume that you have provided a transform from any sensor data that you provide to one of those frames, or that your data is already in one of those frames. For example, if you fuse velocity data from wheel encoders, it needs to be in the base_link frame (your robot's body frame), or you need to provide a transform from your wheel encoder frame to the base_link frame.
If you have some kind of absolute pose measurement (from, say, overhead cameras that are localizing your robot), the output of that pose data needs to be in the odom frame, or you have to provide a transform from the camera pose data to the odom frame.
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