parent frame: base_link (Wheel Odometry frame, located at the bottom center of the robot)
child frame: lidar (Velodyne)

# This result is measured and computed directly from CAD models of the robot and the mounting board.
x, y, z, qx, qy, qz, qw = 0.0400, 0.0000, 0.3787, 0.0000, 0.0000, 0.0000, 1.0000