diff --git a/asv_setup/CMakeLists.txt b/asv_setup/CMakeLists.txt
index 3242be2e..25dfd784 100644
--- a/asv_setup/CMakeLists.txt
+++ b/asv_setup/CMakeLists.txt
@@ -23,4 +23,10 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 ament_package()
diff --git a/asv_setup/launch/pc.yaml b/asv_setup/launch/pc.launch.yaml
similarity index 100%
rename from asv_setup/launch/pc.yaml
rename to asv_setup/launch/pc.launch.yaml
diff --git a/asv_setup/launch/tf.launch.yaml b/asv_setup/launch/tf.launch.yaml
new file mode 100644
index 00000000..3df919bc
--- /dev/null
+++ b/asv_setup/launch/tf.launch.yaml
@@ -0,0 +1,23 @@
+launch:
+  - node:
+      pkg: tf2_ros
+      exec: static_transform_publisher
+      name: base_link_to_lidar
+      args: --frame-id base_link --child-frame-id os_lidar --x 0 --y 0 --z 0.03565 --roll 0 --pitch 0 --yaw 0
+
+  - node:
+      pkg: tf2_ros
+      exec: static_transform_publisher
+      name: base_link_to_zed2_camera_center
+      args: --frame-id base_link --child-frame-id zed2i_camera_center --x -0.03005 --y 0 --z 0.2203 --roll 0 --pitch 0 --yaw 0
+      
+#Tall fra mechanical
+#Lidar
+#X: 0
+#Y (Høyde Z): Bunn til senter(50 - 28,35/2) + Origin til bunn av sensor(356,5) = 392.325 mm
+#Z: 0 
+
+#Kamera
+#X: -(268.56 mm + 31.58 mm)  = -300.14 mm 
+#Y (Høyde Z): 179.01 mm + 42.37mm distanse fra sentrumtil linse = 221.38 mm
+#Z (Y): 0
diff --git a/asv_setup/launch/tf.yaml b/asv_setup/launch/tf.yaml
deleted file mode 100644
index 3a83b9f2..00000000
--- a/asv_setup/launch/tf.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-launch:
-  - transforms:
-    - name: base_link_to_lidar
-      pkg: tf2_ros
-      translation: [0.0, 0.0, 0.03565]
-      rotation: [0.0, 0.0, 0.0]
-      parent_frame_id: base_link
-      child_frame_id: os_lidar
-
-    - name: base_link_to_zed2_camera_center
-      pkg: tf2_ros
-      translation: [-0.03005, 0.0, 0.2203]
-      rotation: [0.0, 0.0, 0.0]
-      parent_frame_id: base_link
-      child_frame_id: zed2i_camera_center
-