updated transforms.launch (#29)

KTH-SML · Oct 31, 2023 · 06c1145 · 06c1145
1 parent bbdcb4b
commit 06c1145
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/svea_sensors/launch/transforms.launch b/src/svea_sensors/launch/transforms.launch
@@ -20,10 +20,10 @@
 
     <!-- TX2 configuration -->
     <group unless="$(arg xavier)">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="imulink_broadcaster"    args="0.17 0.074 0.2 0 0 0 1 base_link imu" />
-        <node pkg="tf2_ros" type="static_transform_publisher" name="lidarlink_broadcaster"  args="0.284 0 0.2 0 0 0 1 base_link laser" />
-        <node pkg="tf2_ros" type="static_transform_publisher" name="t265_link_broadcaster"  args="0.09 0 0.215 0 -1.57 3.14 base_link t265_camera_pose_frame" />
-        <node pkg="tf2_ros" type="static_transform_publisher" name="t265_odom_broadcaster"  args="0.09 0 0.215 0 -1.57 3.14 odom t265_camera_odom_frame" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="imulink_broadcaster"    args="0 0 0.16 0 0 0 1 base_link imu" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="lidarlink_broadcaster"  args="0.405 0 0.133 0 0 0 1 base_link laser" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="t265_link_broadcaster"  args="0.056 0.01 0.172 0 -1.57 3.14 base_link t265_camera_pose_frame" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="t265_odom_broadcaster"  args="0.056 0.01 0.172 0 -1.57 3.14 odom t265_camera_odom_frame" />
         <node pkg="tf2_ros" type="static_transform_publisher" name="gps_broadcaster"        args="0.215 0 0.215 0 0 0 base_link gps" />
     </group>