ODS transforms

ODS data is published with reference to the "ifm_base_link", which, in general, corresponds to the robot’s "base_link".

The reference coordinate system for ODS is constrained such that:

• The center of the ODS coordinate system is at floor level,

• The X axis is pointing in the direction of forward movement,

• The Z axis is pointing upwards.

The cameras used by ODS must be calibrated with reference to the ODS coordinate system, as part of the initial ODS configuration (see the ODS configuration documentation).

The origin of the ODS coordinate system corresponds to the center of the occupancy grid.

Publishing the tf from the robot’s "base_link" to the "ifm_base_link" should be done by the user.