Howdy folks,
I have question relating to the following transform tree:
**[/nav_frame]->[/base_link]->[/sensor_platform] -> [/IMU_AHRS]**
The sensor platform is literally a platform that has sensors mounted on it (GPS antenna, IMU-AHRS, etc.) and is attached to the robotic platform (/base_link).
The nav_frame is a local ENU frame in which I do my navigation computations: it's placed on the WGS84 ellipsoid at the same location as the base_link, and it always points north.
I got an IMU-AHRS system (with magnetometer and world magnetic map) mounted on the sensor_platform that I will use to resolve the transformation between nav_frame and base_link.
So, I have the following situation:
[/nav_frame]->[/base_link] UNKNOWN, this is what I need to resolve
[/base_link] ->[/sensor_platform] is a known and fixed transform
[/sensor_platform] -> [/IMU_AHRS] is a known and fixed transform
**My Question: Can tf (or tf2) somehow automatically (internally) resolve the hidden transform [/nav_frame]->[base_link] when it's given the measured transform [/nav_frame] -> [/IMU_AHRS] as produced by the IMU-AHRS system, or do I (as the programmer) have to explicitly compute this transform (which is easy enough using the IMU-AHRS measurements and the fixed transforms relating the IMU_AHRS frame w.r.t. the base_link) and explicitly publish this as the [/nave_frame] -> [/base_link] transform?**
if tf/tf2 can do this "internally", then how?
Thanks in advance
Best regards,
Galto
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