Where on the robot is body_link?

I’m trying to get the transformation matrix between Husarion logo on the front of the robot and the odom_link. From what I understand the odom_link is defined to be the body_link when the ekf turns on. Where exactly on the robot is the body_link in meters?

Hello @banana_bread and welcome to the Husarion Community!

I recommend analyzing this file from the rosbot_ros repository:

Best regards
Jan Brzyk