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Google Cartographer TF

I'm reading the documentation and I'm unsure how to make the TF. Am I understanding this right? "Note that Cartographer’s ROS integration uses tf2, thus all frame IDs are expected to contain only a frame name (lower-case with underscores) and no prefix or slashes. See REP 105 for commonly used coordinate frames." That I have to implement tf2 or is the cartographer built with tf2? The link: https://google-cartographer-ros.readthedocs.io/en/latest/configuration.html

I have a 3d RGB camera and I did it like this: http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF