sensor-frame-mounting
CommunityMount sensor frames precisely in URDF.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Sensor frames in URDF must be defined so that every sensor has a valid TF chain; misalignment leads to incorrect data framing and degraded perception.
Core Features & Use Cases
- URDF-based mounting: Define fixed joints to attach sensor frames to the robot, ensuring a consistent transform from base_link to sensor_link.
- Frame conventions guidance: Distinguishes ROS body vs optical frames (e.g., camera optical frame) and provides origin offsets to align sensors with driver frame_ids.
- Verification guidance: Commands to inspect TF frames and validate transforms to avoid data misplacement in RViz or perception pipelines.
Quick Start
Add a fixed joint in your URDF linking the sensor to its frame and set the origin to the sensor physical offset.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: sensor-frame-mounting Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#sensor-frame-mounting Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
Agent Skills Search Helper
Install a tiny helper to your Agent, search and equip skill from 471,000+ vetted skills library on demand.