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  1. <launch>
  2.   <node pkg="tf" type="static_transform_publisher" name="kinect_base1_link" args="0 -0.02 0 0 0 0  /openni_camera /openni_depth_frame 100" />  
  3.   <node pkg="tf" type="static_transform_publisher" name="kinect_base1_link1" args="0 -0.04 0 0 0 0  /openni_camera /openni_rgb_frame 100" />  
  4.   <node pkg="tf" type="static_transform_publisher" name="kinect_base1_link2" args="0 0 0 0 0 0 /openni_depth_frame /openni_depth_optical_frame1  100" />  
  5.   <node pkg="tf" type="static_transform_publisher" name="kinect_base1_link3" args="0 0 0 0 0 0 /openni_rgb_frame /openni_rgb_optical_frame1 100" />  
  6. </launch>
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https://ideone.com/7olVB
language:
Text (text 6.10)
created:
13 years ago
visibility:
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