<!-- -*- mode: XML -*- -->
<!-- define transforms for testing static vehicle sensors -->

<launch>

  <!-- publish  /vehicle -> /velodyne transform -->
  <node pkg="tf2_ros" type="static_transform_publisher"
        name="vehicle_velodyne_tf"
        args="0.393 0.278 2.4 -0.02155 0.0164 0.00621 vehicle velodyne" />

  <!-- publish identity /odom -> /vehicle transform
       (for viewing sensor data for a static vehicle) -->
  <node pkg="tf2_ros" type="static_transform_publisher"
        name="vehicle_is_odom"
        args="0 0 0 0 0 0 odom vehicle" />

  <!-- publish identity /map -> /odom transform
       (for viewing sensor data for a static vehicle) -->
  <node pkg="tf2_ros" type="static_transform_publisher"
        name="map_to_odom"
        args="0 0 0 0 0 0 map odom" />

</launch>
