<!--
FROM: http://wiki.ros.org/tf#static_transform_publisher

<<static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms>>
Publish a static coordinate transform to tf using an x/y/z offset and yaw/pitch/roll. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
== OR ==
<<static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms>>
Publish a static coordinate transform to tf using an x/y/z offset and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.

-->

<launch>

	<!-- DEFINE HERE THE STATIC TRANFORMS, FROM BASE_FRAME (COMMON REFERENCE FRAME) TO THE VIRTUAL LASER FRAMES-->
	<!-- WARNING: the virtual laser frame(s) *must* match the virtual laser name(s) listed in param: output_laser_scan -->
	<node pkg="tf" type="static_transform_publisher" name="ira_static_broadcaster1" args="0 0 0 0 0.3 0 laser_frame scansx 1000" />
	<node pkg="tf" type="static_transform_publisher" name="ira_static_broadcaster2" args="0 0 0 0 0.0 0 laser_frame scandx 1000" />

	<node pkg="ira_laser_tools" name="laserscan_virtualizer" type="laserscan_virtualizer" output="screen">
		<param name="cloud_topic" value="/cloud_in"/>       <!-- INPUT POINT CLOUD -->
		<param name="base_frame" value="/laser_frame"/>     <!-- REFERENCE FRAME WHICH LASER(s) ARE RELATED-->
		<param name="output_laser_topic" value ="/scan" />  <!-- VIRTUAL LASER OUTPUT TOPIC, LEAVE VALUE EMPTY TO PUBLISH ON THE VIRTUAL LASER NAMES (param: output_laser_scan) -->
		<param name="virtual_laser_scan" value ="scansx scandx" /> <!-- LIST OF THE VIRTUAL LASER SCANS. YOU MUST PROVIDE THE STATIC TRANSFORMS TO TF, SEE ABOVE -->
	</node>
</launch>