Results for getTransform
inspect them. Any transformation is described by a ROS geometry_msgs/TransformStamped message and has a translational and rotational component. Retrieve the transformation that describes the relationship between the mounting point and the camera center. Use the getTransform function to do that.
scan data using the scanSub subscriber. Use the getTransform function with the time stamp on scan message to get the transformation between the map and robot_base frames at the time of the sensor reading. Get the robot position and orientation from the transformation. The robot orientation is the