transformations.launch

<launch>
  <!-- base_link convention is x forward, y left, and z up-->
  <!-- static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="imu2base_linkt" args="1.96 -0.017 1.02 -0.77761305 -0.02765195 -0.62763195  0.0251284 base_link imu" /> <!-- base_link is the father of imu. -->
  <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="zed_left2base_linkt" args="1.96 -0.017 1.02 -0.55635592  0.49124992 -0.44021661 0.50532261 base_link zed_left" /> -->
  <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="gps2imu" args="0.00070337 -0.01282362 0.59345719 1.95559887e-02  -5.27424341e-04 -7.87282219e-04 9.99808314e-01 imu gps" />  -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="zed_left2imu" args="-0.05 -0.06 0 0.05846813  0.01944892 0.70348136 0.70803757 imu zed_left" />
  <!--<node pkg="tf2_ros" type="static_transform_publisher" name="zed_right2zed_left" args="0.12 0 0 0 0 0 zed_left zed_right" /> -->
  <!-- TODO: Check if we should use rectification values. This is only the baseline is the transformation. -->
</launch>