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Generally, to have transforms set up and ready you have to write an URDF file and use robot_state_publisher to provide static transforms for all the links. You can add transform publishers separately, but it gets pretty cumbersome after a while. As for the extra question, I'm not sure I follow exactly, but the sensor driver code can provide its own TF publisher that could readjust the position of those frames. It definitely could be helpful to learn what those sensors are to improve this answer.