Thesis-Hector-VR/Hector_v2/Assets/Telemax/hector_sensors_description/launch/realsense_d435_camera_static_transforms.launch

<?xml version="1.0"?>

<launch>
  <arg name="camera_name" /> <!-- mandatory parameter -->
  
  <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera_name)_color_frame_pub" args="0 0.015 0 0 0 0 /$(arg camera_name)_link /$(arg camera_name)_color_frame" /> 
  <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera_name)_cam_color_optical_frame_pub" args="0 0 0 -1.57 0 -1.57  /$(arg camera_name)_color_frame /$(arg camera_name)_color_optical_frame" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera_name)_depth_frame_pub" args="0 0 0 0 0 0 /$(arg camera_name)_link /$(arg camera_name)_depth_frame" /> 
  <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg camera_name)_depth_optical_frame_pub" args="0 0 0 -1.57 0 -1.57  /$(arg camera_name)_depth_frame /$(arg camera_name)_depth_optical_frame" /> 
  
</launch>