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You can mount it anywhere you want, as long as you accurately describe its pose relative to the frame you want to track (base_link_frame
in robot_localization
). That pose description will go into your TF tree and can be provided either by running static transforms nodes or, better, via a URDF interpreted by robot_state_publisher
.
Now whether or not you can accurately measure the pose in relation to your base_link
(or whichever frame you want to use for tracking) is a different story. Ideally this should be calibrated (read: computed from measurements by the sensors itself and ground truth), rather than measured geometrically or derived from a model, since the latter will always have errors.