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

Wiki: proximity_sensor_tf (last edited 2011-08-18 22:18:04 by AdrianFunk)