zed_tf.launch

<launch>
  <arg name="camera" default="zed"/>
  <arg name="tf_prefix" default="" />
  <arg name="pi/2" value="1.5707963267948966" />
  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
  <arg name="pi/4" value="0.78539816339" />

  <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera)_odom_link1"
    args="0 0 0 0 $(arg pi/4) 0 odom $(arg tf_prefix)$(arg camera)_initial_frame" />

    <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera)_base_link1"
    args="0 0 0 0 0 0 base_link $(arg tf_prefix)$(arg camera)_initial_frame" />


  <!--<node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera)_base_link2"
    args="$(arg optical_rotate) $(arg tf_prefix)/$(arg camera)_initial_frame $(arg tf_prefix)/$(arg camera)_tracked_frame" />-->


</launch>