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Basically it's up to you how you name your frames as everything is configurable. There are some standard names for frames that are usually set as defaults: http://www.ros.org/reps/rep-0105.html

Basically it's up to you how you name your frames as everything is configurable. There are some standard names for frames that are usually set as defaults: http://www.ros.org/reps/rep-0105.htmlhttp://www.ros.org/reps/rep-0105.html That document also explains the semantics of those frames.