What is the purpose of TF transforms in ROS-based robots?

Example Concept: TF (Transform) in ROS is a library that allows the robot to keep track of multiple coordinate frames over time. It provides a way to transform points, vectors, and poses between any two coordinate frames at any desired point in time. This is crucial for tasks such as sensor fusion, where data from different sensors need to be aligned in a common frame, and for navigation, where the robot needs to understand its position in the world relative to a map or goal.