What is the base frame in velodyne's transform_nodelet? [closed]
I would like to transform the Velodyne LIDAR data before publishing it as a point cloud.
If I understand correctly the purpose of TransformNodelet in velodyne package is exactly this. In order to perform this transformation I have to publish a new frame that will be used by the TransformNodelet. For example:
rosrun tf static_transform_publisher 0.0 0.0 0.0 1.0 1.0 1.0 1.0 /what_is_this /my_frame 500
My problem is I do not know what is the base frame. Do anybody know what is its name?