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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch
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<!-- -*- mode: XML -*- -->
<!-- define transforms for testing static vehicle sensors -->
<launch>
<!-- publish /vehicle -> /velodyne transform -->
<node pkg="tf2_ros" type="static_transform_publisher"
name="vehicle_velodyne_tf"
args="0.393 0.278 2.4 -0.02155 0.0164 0.00621 vehicle velodyne" />
<!-- publish identity /odom -> /vehicle transform
(for viewing sensor data for a static vehicle) -->
<node pkg="tf2_ros" type="static_transform_publisher"
name="vehicle_is_odom"
args="0 0 0 0 0 0 odom vehicle" />
<!-- publish identity /map -> /odom transform
(for viewing sensor data for a static vehicle) -->
<node pkg="tf2_ros" type="static_transform_publisher"
name="map_to_odom"
args="0 0 0 0 0 0 map odom" />
</launch>