Hi all,

I'm proposing a new section to be added to REP-0103 to provide some
clarification about how systems with information about their global
location and orientation should interoperate with the cartesian world of
TF, rviz, PCL, and friends.

Please give the proposal a read and provide your input in the Github pull
request discussion:

https://github.com/ros-infrastructure/rep/pull/88

Mike Purvis
Clearpath Robotics