costmap_2d 0.7.10 tf3 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf3 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time. Tully Foote Eitan Marder-Eppstein Wim Meeussen Tully Foote BSD http://www.ros.org/wiki/tf3 catkin libconsole-bridge-dev libconsole-bridge-dev