I have a rosbag that publishes IMU information in the left hand coordinate system but as I read in [REP 103](http://www.ros.org/reps/rep-0103) , the coordinate systems in ros are all right handed.
How do I accomplish this transformation between the two? Do I change values published by IMU or do I publish a transform? I strongly feel that I should publish a certain transform. What does that transform look like and where can I read more about it? What are the best practices to do this? Also can one sensor be in a different co-ordinate frame than the other, how do you fix that?
**Note:** I am using tf2
I also found and article about this on [a webpage by unity](http://answers.unity3d.com/storage/temp/12048-lefthandedtorighthanded.pdf).
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