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Convention for transforming Range message?

asked 2018-04-29 21:40:19 -0600

seanarm gravatar image

What's the standard convention for transforming a sensor_msgs/Range measurement into the attached robot's base_link frame, given the location of the sensor on the robot. I can plop it into the Z field of a Vector3 and transform accordingly, but I was wondering if there was a more standard way.

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answered 2018-04-30 02:23:52 -0600

tuandl gravatar image

I think the standard convention for frames coordinate (applied for all type of messages) is REP-105 and REP-103. Or you can follow the hector_slam tutorial.

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Asked: 2018-04-29 21:40:19 -0600

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Last updated: Apr 30 '18