Fixed-frame-based transformations (ros-pkg ticket #477)

[hershwg]

Need to change the way the visualizer deals with transformations. Currently it transforms directly from the frame of the incoming messages to the frame we're displaying in. What we should be doing is transforming to a fixed frame ("map" or possibly "odom") and just transforming the things that need to be relative to the target frame as needed (the robot, camera, grid, origin axes...).

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Wed Oct 22 16:20:37 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/477