From 5a0473c6eea8e9e13a3db36ce37ccb9cbdf4a94a Mon Sep 17 00:00:00 2001
From: Dan Hert <hertdani@fel.cvut.cz>
Date: Wed, 13 Dec 2023 10:23:28 +0100
Subject: [PATCH] adding sensor config for t680

---
 launch/sensors.launch | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/launch/sensors.launch b/launch/sensors.launch
index a883b49..f000504 100644
--- a/launch/sensors.launch
+++ b/launch/sensors.launch
@@ -90,6 +90,10 @@
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.0 0.1 -0.03 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
       </group>
 
+      <group if="$(eval arg('UAV_TYPE') == 't680')">
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.0 0.1 -0.03 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
+      </group>
+
       <group if="$(eval arg('UAV_TYPE') == 'naki')">
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.19918 -0.115 -0.025 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
       </group>
@@ -892,6 +896,10 @@
       <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.10 $(arg ouster_heading) 0.0 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
     </group>
 
+    <group if="$(eval arg('UAV_TYPE') == 't680')">
+      <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.7 $(arg ouster_heading) 0.0 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
+    </group>
+
     <group if="$(eval arg('UAV_TYPE') == 'eaglemk2')">
       <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.10 $(arg ouster_heading) 0.1745329 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
     </group>