Getting started with transformations

[KD-3]

Description
Get an understanding of what transformations are and why they are required.
http://wiki.ros.org/tf

Expected Work
Set up listening and broadcasting transforms for a P3DX Robot moving autonomously using move_base
Listening for transforms - Receive and buffer all coordinate frames that are broadcasted in the system, and query for specific transforms between the following frames:

• map and odom
• map and base_link
• odom and base_link

To extend the capabilities of a robot you will need to start broadcasting transforms.
Broadcasting transforms - Send out the relative pose of coordinate frames to the rest of the system. A system can have many broadcasters that each provide information about a different part of the robot.