cornellev / cornellev/autonomy
Setup transform tree and ROS interfaces
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Description
- Use TF2 ROS package, required to relate different coordinate systems
- Nav2 requires map => odom, odom => base_link, and base_link => base_laser transforms, we should also add camera_link
- base_link is center of car, base_laser is position of LiDAR on car, odom is for EKF, map is global reference frame
- Visualize in Rviz to make sure mapping is correct
- Read more about transforms [here](https://docs.nav2.org/setup_guides/transformation/setup_transforms.html)
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