I’ve been working on incorporating some of our own sensor setups into our magni robot. Currently, I am working on setting up the tf transform messages for the sensors as well as setting up a range_sensor_layer on the 2D costmaps available in ROS. However, I am having difficulties locating the code that sets up the tf trannsforms for the sensors (such as the sonar array). The only tf readings I can find are those for the left and right wheels.
Can anyone point me in the right direction to find the code for the tf transforms for the sensors if this code exists?