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Sep 14th, 2015
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  1. <?xml version="1.0"?>
  2. <launch>
  3.  
  4.  
  5.     <!-- tf2 args:  <x y z YAW PITCH ROLL>  Different from original tf!!! -->
  6.     <node
  7.      pkg="tf"
  8.      type="static_transform_publisher"
  9.      name="baselink_to_blackfly_mount"
  10.      args="-0.45 0.0 0.47 3.14195 0 0 base_link blackfly_mount_link 25" >
  11.     </node>
  12. <!--     <node
  13.      pkg="tf"
  14.      type="static_transform_publisher"
  15.      name="blackfly_mount_to_optical"
  16.      args="0.1 0 0 -1.57 0 -1.57 blackfly_mount_link blackfly_optical_link 25">
  17.    </node> -->
  18.     <node
  19.      pkg="tf"
  20.      type="static_transform_publisher"
  21.      name="arsys_to_map"
  22.      args="0 0 0.5 0 1.57 0 map board_marker 25">
  23.     </node>
  24.  
  25.     <include file="$(find rmc_2dnav)/launch/ekf_localization_1.launch"/> <!-- Only IMU -->
  26.     <include file="$(find rmc_2dnav)/launch/ekf_localization_2.launch"/> <!-- EKF_1 output and ar pose -->
  27.  
  28. </launch>
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