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Update Coordinate-Transforms-using-TF.md #217

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3 changes: 2 additions & 1 deletion gh_pages/_source/session3/Coordinate-Transforms-using-TF.md
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Expand Up @@ -24,7 +24,8 @@ Specifically, edit the service callback inside the vision_node to transform the

1. Specify `tf` as a dependency of your core package.

* Edit `package.xml` (2 lines) and `CMakeLists.txt` (2 lines) as in previous exercises
* Edit `package.xml` (2 lines) and `CMakeLists.txt` (2 lines) as in previous exercises.
Note: In the source files, the 'package.xml' shows the edit to be '<run_depend>tf</run_depend>'. This may cause a long string of erros when running 'catkin build'. Fix this by doing '<exec_depend>tf</exec_depend>'instead.

1. Add a `tf::TransformListener` object to the vision node (as a class member variable).

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