| frame_id: hesai_lidar | |
| topic: hesai_points_undistorted | |
| transform: | |
| base_frame_id: box_base | |
| child_frame_id: hesai_lidar | |
| rotation: | |
| w: -0.004419949690193552 | |
| x: -0.7093301791430758 | |
| y: 0.7048516039326548 | |
| z: 0.003921407292290494 | |
| translation: | |
| x: -0.04461184951630229 | |
| y: 0.3022381420105506 | |
| z: -0.01253994548350209 | |