test_frames2.launch

<launch>
  <node pkg="tf" type="static_transform_publisher" name="kinect_base2_link" args="0 -0.02 0 0 0 0  /openni_camera /openni_depth_frame 100" />
  <node pkg="tf" type="static_transform_publisher" name="kinect_base2_link1" args="0 -0.04 0 0 0 0  /openni_camera /openni_rgb_frame 100" />
  <node pkg="tf" type="static_transform_publisher" name="kinect_base2_link2" args="0 0 0 -1.57 0 -1.57 /openni_depth_frame /openni_depth_optical_frame2  100" />
  <node pkg="tf" type="static_transform_publisher" name="kinect_base2_link3" args="0 0 0 -1.57 0 -1.57 /openni_rgb_frame /openni_rgb_optical_frame2 100" />
</launch>