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* `ROS REP-105: Coordinate Frames for Mobile Platforms <http://www.ros.org/reps/rep-0105.html#id15>`_
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* `ABB: What is a coordinate system? <http://developercenter.robotstudio.com/blobproxy/devcenter/RobotStudio/html/4eac08e9-c42c-446f-bbd4-228e523dd2d5.htm>`_
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