<?xml version="1.0"?>
<launch>


    <!-- tf2 args:  <x y z YAW PITCH ROLL>  Different from original tf!!! -->
    <node
      pkg="tf"
      type="static_transform_publisher"
      name="baselink_to_blackfly_mount"
      args="-0.45 0.0 0.47 3.14195 0 0 base_link blackfly_mount_link 25" >
    </node>
    <node
      pkg="tf"
      type="static_transform_publisher"
      name="blackfly_mount_to_optical"
      args="0.1 0 0 -1.57 0 -1.57 blackfly_mount_link blackfly_optical_link 25">
    </node>


    <include file="$(find rmc_2dnav)/launch/ekf_localization_1.launch"/> <!-- Only IMU -->
    <include file="$(find rmc_2dnav)/launch/ekf_localization_2.launch"/> <!-- EKF_1 output and ar pose -->

</launch>