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I think what you need to do here is to transform your data into the same frame of reference. You need to have a tf tree created (using either a urdf description or using static transform publisher). Then, in you code, you can have a transform listener to transform your data into the same frame of reference (either transform your images into your radar frame or vice. versa). Once both data are in the same frame, you don't have to worry about the relative position of your sensors. Or, if you still do, you can look up the returned object from the transform listener (transformStamped if you refer the above example).
P.S: there exists a similar transform listener in python.