def METHOD_NAME(self):
    base_link_to_platform = TransformStamped()
    base_link_to_platform.header.frame_id = 'base_link'
    base_link_to_platform.header.stamp = self.get_clock().now().to_msg()
    base_link_to_platform.child_frame_id = 'platform'
    base_link_to_platform.transform.translation.x = 0.0
    base_link_to_platform.transform.translation.y = 0.0
    base_link_to_platform.transform.translation.z = 0.1
    base_link_to_platform.transform.rotation.w = 1.0
    base_link_to_platform.transform.rotation.x = 0.0
    base_link_to_platform.transform.rotation.y = 0.0
    base_link_to_platform.transform.rotation.z = 0.0
    platform_to_camera = TransformStamped()
    platform_to_camera.header.frame_id = 'platform'
    platform_to_camera.header.stamp = self.get_clock().now().to_msg()
    platform_to_camera.child_frame_id = 'camera'
    platform_to_camera.transform.translation.x = 0.05
    platform_to_camera.transform.translation.y = 0.0
    platform_to_camera.transform.translation.z = 0.01
    platform_to_camera.transform.rotation.w = 1.0
    platform_to_camera.transform.rotation.x = 0.0
    platform_to_camera.transform.rotation.y = 0.0
    platform_to_camera.transform.rotation.z = 0.0
    platform_to_sonar_0 = TransformStamped()
    platform_to_sonar_0.header.frame_id = 'platform'
    platform_to_sonar_0.header.stamp = self.get_clock().now().to_msg()
    platform_to_sonar_0.child_frame_id = 'sonar_0'
    platform_to_sonar_0.transform.translation.x = 0.05 * math.sin(math.radians(45))
    platform_to_sonar_0.transform.translation.y = 0.05 * math.cos(math.radians(45))
    platform_to_sonar_0.transform.translation.z = 0.0
    platform_to_sonar_0.transform.rotation.w = -0.8733046400935156
    platform_to_sonar_0.transform.rotation.x = 0.0
    platform_to_sonar_0.transform.rotation.y = 0.0
    platform_to_sonar_0.transform.rotation.z = -0.4871745124605095
    platform_to_sonar_1 = TransformStamped()
    platform_to_sonar_1.header.frame_id = 'platform'
    platform_to_sonar_1.header.stamp = self.get_clock().now().to_msg()
    platform_to_sonar_1.child_frame_id = 'sonar_1'
    platform_to_sonar_1.transform.translation.x = 0.05
    platform_to_sonar_1.transform.translation.y = 0.0
    platform_to_sonar_1.transform.translation.z = 0.0
    platform_to_sonar_1.transform.rotation.w = 1.0
    platform_to_sonar_1.transform.rotation.x = 0.0
    platform_to_sonar_1.transform.rotation.y = 0.0
    platform_to_sonar_1.transform.rotation.z = 0.0
    platform_to_sonar_2 = TransformStamped()
    platform_to_sonar_2.header.frame_id = 'platform'
    platform_to_sonar_2.header.stamp = self.get_clock().now().to_msg()
    platform_to_sonar_2.child_frame_id = 'sonar_2'
    platform_to_sonar_2.transform.translation.x = 0.05 * math.sin(math.radians(45))
    platform_to_sonar_2.transform.translation.y = -0.05 * math.cos(math.radians(45))
    platform_to_sonar_2.transform.translation.z = 0.0
    platform_to_sonar_2.transform.rotation.w = 0.8733046400935156
    platform_to_sonar_2.transform.rotation.x = 0.0
    platform_to_sonar_2.transform.rotation.y = 0.0
    platform_to_sonar_2.transform.rotation.z = -0.4871745124605095
    return (
        base_link_to_platform,
        platform_to_camera,
        platform_to_sonar_0,
        platform_to_sonar_1,
        platform_to_sonar_2,
    )