From ef5739623c057d380ff8e95c4a4a07619e866b97 Mon Sep 17 00:00:00 2001
From: Wil Selby <accounts@wilselby.com>
Date: Sat, 5 Oct 2019 21:52:02 -0700
Subject: [PATCH] added transform.lua

---
 .../configuration_files/transform.lua         | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 cartographer_ros/configuration_files/transform.lua

diff --git a/cartographer_ros/configuration_files/transform.lua b/cartographer_ros/configuration_files/transform.lua
new file mode 100644
index 00000000..205f232b
--- /dev/null
+++ b/cartographer_ros/configuration_files/transform.lua
@@ -0,0 +1,28 @@
+-- Copyright 2017 The Cartographer Authors
+--
+-- Licensed under the Apache License, Version 2.0 (the "License");
+-- you may not use this file except in compliance with the License.
+-- You may obtain a copy of the License at
+--
+--      http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS,
+-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-- See the License for the specific language governing permissions and
+-- limitations under the License.
+
+XY_TRANSFORM =  {
+  translation = { 0., 0., 0. },
+  rotation = { 0., -math.pi / 2., 0., },
+}
+
+XZ_TRANSFORM =  {
+  translation = { 0., 0., 0. },
+  rotation = { 0. , 0., -math.pi / 2, },
+}
+
+YZ_TRANSFORM =  {
+  translation = { 0., 0., 0. },
+  rotation = { 0. , 0., math.pi, },
+}