List down all the frames and the modules that handle the transform between them

[abinashmeher999]

Any robot deals with points and other data types on multiple coordinate frames and we regularly need to transform these points from one to the other. But the transformations between these frames keep changing with time! And different modules have the information needed to tranform between some two frames.

Remembering which module handles which frames and having to write the rotation and translation matrices for all the intermediate frames is a tedious task.

We need to have as few frames as possible and also few modules that handle the transform between them. Therefore we need to list down all the frames needed/present and decide which transform is handle by which module.

We will be using the tf package.

[abinashmeher999]

This will also go into the documentation.

[abinashmeher999]

@chatrasen Take up this one too.