adding relsense front TF for X500

ctu-mrs · Mar 27, 2024 · c852821 · c852821
1 parent 2a8b3d1
commit c852821
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/launch/sensors.launch b/launch/sensors.launch
@@ -251,6 +251,10 @@
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg realsense_frame_slashless)" args="0.16 0.0 -0.05 0.0 0.0 0.0 $(arg fcu_frame) $(arg realsense_frame)" />
       </group>
 
+      <group if="$(eval arg('UAV_TYPE') == 'x500')">
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg realsense_frame_slashless)" args="0.06 0 -0.13 0 0 0 $(arg fcu_frame) $(arg realsense_frame)" />
+      </group>
+
       <group if="$(eval arg('UAV_TYPE') == 'f550')">
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg realsense_frame_slashless)" args="0.3 0 -0.05 0 0 0 $(arg fcu_frame) $(arg realsense_frame)" />
       </group>