Configuring TF tree for a system that inherently uses NED (North-East-Down) convention?
I know how to perform transforms between an ENU and NED frame (a simple static flip) but my question here is more of how do I configure the TF tree if the existing codebase assumes everything as NED (x forward, y right, and z down). For example the controls algorithms, pose, laser scans and costmaps are assumed to be in NED. I have read REP 103 and REP 105 on conventions to label the TF tree for frames that do not follow the ENU convention, for example, odom_ned frame.
If the TF tree were to look something like this:
map -> odom -> base_link -> (Many static child frames)
how should the TF tree be modified to work with NED convention and without things looking strange in RVIZ?
Is this an accurate TF tree for NED:
map -> map_ned -> odom_ned -> base_link_ned -> (Many static child frames)
where there is a static TF transform between map and map_ned?