Coordinate Frames (TF)

This page collects the base-to-sensor transform matrices (TF) for every sensor mounted on the RBQ. Each matrix is a 4×4 homogeneous transform from the robot base frame to the sensor frame; translation components are in meters (m).

i

NOTE

These are fixed mounting transforms. Transforms that change at runtime (odom → base_link, leg joints, and so on) are broadcast by the robot on /tf — see the ROS 2 topic reference.

Cameras

Front and rear cameras (OAK-D Pro Wide)

Camera	RGB TF	Depth TF
Front camera	[ 0.0000 0.0000 1.0000 0.388031 ] [ -1.0000 0.0000 0.0000 0.000000 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]	[ 0.0000 0.0000 1.0000 0.388031 ] [ -1.0000 0.0000 0.0000 -0.037500 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]
Rear camera	[ 0.0000 0.0000 -1.0000 -0.388031 ] [ 1.0000 0.0000 0.0000 0.000000 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]	[ 0.0000 0.0000 -1.0000 -0.388031 ] [ 1.0000 0.0000 0.0000 0.037500 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]

Ground-view cameras (Intel RealSense D430)

Camera	Depth TF
Camera 0	[ -0.939693 0.000000 0.342020 0.364620 ] [ 0.000000 1.000000 0.000000 0.000000 ] [ -0.342020 0.000000 -0.939693 -0.026630 ] [ 0.000000 0.000000 0.000000 1.000000 ]
Camera 1	[ -0.970296 0.000000 -0.241922 0.260530 ] [ 0.000000 1.000000 0.000000 0.000000 ] [ 0.241922 0.000000 -0.970296 -0.047590 ] [ 0.000000 0.000000 0.000000 1.000000 ]
Camera 2	[ -1.000000 0.000000 0.000000 -0.195150 ] [ 0.000000 1.000000 0.000000 0.006500 ] [ 0.000000 0.000000 -1.000000 -0.048320 ] [ 0.000000 0.000000 0.000000 1.000000 ]
Camera 3	[ 0.861341 -0.0909518 -0.499820000 -0.352993 ] [ -0.105042 -0.9944680 -5.69736e-05 -1.1e-050 ] [ -0.497050 0.0525513 -0.866129000 -0.020514 ] [ 0.000000 0.0000000 0.000000000 1.000000 ]

LiDAR

MID-360

	Base to LiDAR TF
LiDAR-Front	[ 0.81920 0.00000 0.57358 0.37282 ] [ 0.00000 1.00000 0.00000 0.00000 ] [ -0.57358 0.00000 0.81915 0.12777 ] [ 0.0000 0.00000 0.00000 1.00000 ]
LiDAR-Rear	[ 0.81920 0.00000 -0.57358 -0.34100 ] [ 0.00000 1.00000 0.00000 0.00000 ] [ 0.57358 0.00000 0.81915 0.16963 ] [ 0.00000 0.00000 0.00000 1.00000 ]

OS1-32

	Base to LiDAR TF
LiDAR	[ 1.000000 0.000000 0.000000 -0.312600 ] [ 0.000000 1.000000 0.000000 -0.000033 ] [ 0.000000 0.000000 1.000000 0.136850 ] [ 0.000000 0.000000 0.000000 1.000000 ]

Joint frames

Parent and child links, revolute axes, and offsets for the leg joints are in Physical Parameter.

Related pages

Topic	Link
Camera models and field of view	Cameras
LiDAR models	LiDAR
Joint frames, mass, inertia	Physical Parameter
Runtime transforms (/tf)	ROS 2 topic reference