<?xml version="1.0" encoding="UTF-8"?>


<launch>
  <node pkg="cmap" type="transforma" name="transforma" />
  <node pkg="tf" type="static_transform_publisher" name="camera_to_base" args=" -0.55 0 2 -3.14 0.87 1.55  camera_color_optical_frame base_link 100" />
  <!--node pkg="tf" type="static_transform_publisher" name="camera_to_base" args=" 1.3435 0 -1.3435 0 -0.785398 0 camera_link base_link 100" /-->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find package_name)/rviz/cmap_testing.rviz"/>
</launch>
