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The arguments to this function assume a very specific use case.

If I rename the arguments lookupTransform(a, b, time) then what this function does is return an object specifying the pose of frame_b relative to frame_a. For a simple planar 2D example, if frame_a and frame_b are initially aligned and have yaw=0, shifting frame_b to the right 1 meter will result in this function returning transform.translation.x = 1.0.

The arguments to argument names for this function assume a very specific use case.

If I rename the arguments lookupTransform(a, b, time) then what this function does is return an object specifying the pose of frame_b relative to frame_a. For a simple planar 2D example, if frame_a and frame_b are initially aligned and have yaw=0, shifting frame_b to the right 1 meter will result in this function returning transform.translation.x = 1.0.