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Only released in EOL distros:  

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The proximity_sensor_tf package provides an own coordinate frame for each patch of the proximity sensor.

The coordinate frames can be configured in the conf/tf.yaml file. Since the patches are treated as circles, it is sufficient to enter for each patch a position, a normal and the parent frame of the patch.

After you configured your transforms you can run the tf node with

roslaunch proximity_sensor_tf tf.launch


2019-10-19 13:03