Create static_transform_publishers from base_link to sensor links

[5yler]

Include in sensor launch files, for example in imu.launch:

<node pkg="tf" type="static_transform_publisher" name="imu_link_tf_broadcaster" args="0 0 0 0 0 0 map nav 100"/> <!-- x y z yaw pitch roll frame_id child_frame_id period_in_ms -->

We need:

• base_link to imu_link
• base_link to laser_link

Also make sure that the frame_id of the sensor matches the one we use in the launch file by running the sensor, echoing the sensor stream topic and checking the frame_id of the messages.

[5yler]

I made these for Kilotron but we still need to define them for Gigatron (IMU and LIDAR are not mounted yet).

See README.md for sensor link transform launch files and imu_link.yaml as an example of the config file

[5yler]

Done for now!