24 lines
822 B
XML
24 lines
822 B
XML
<!-- -*- mode: XML -*- -->
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<!-- define transforms for testing static vehicle sensors -->
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<launch>
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<!-- publish /vehicle -> /velodyne transform -->
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<node pkg="tf2_ros" type="static_transform_publisher"
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name="vehicle_velodyne_tf"
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args="0.393 0.278 2.4 -0.02155 0.0164 0.00621 vehicle velodyne" />
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<!-- publish identity /odom -> /vehicle transform
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(for viewing sensor data for a static vehicle) -->
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<node pkg="tf2_ros" type="static_transform_publisher"
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name="vehicle_is_odom"
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args="0 0 0 0 0 0 odom vehicle" />
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<!-- publish identity /map -> /odom transform
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(for viewing sensor data for a static vehicle) -->
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<node pkg="tf2_ros" type="static_transform_publisher"
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name="map_to_odom"
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args="0 0 0 0 0 0 map odom" />
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</launch>
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