<commit_before><!-- -*- mode: XML -*- -->
<!-- look for obstacles in a Velodyne PCAP file

     environment: $PCAP = full path name of PCAP file.
-->

<launch>

  <!-- publish  /vehicle -> /velodyne transform -->
  <node pkg="tf" type="static_transform_publisher"
        name="vehicle_velodyne_tf"
        args="0.393 0.278 2.4 -0.02155 0.0164 0.00621 /vehicle /velodyne 1000" />
  <!-- publish identity /odom -> /vehicle transform
       (for viewing sensor data for a static vehicle)
  -->
  <node pkg="tf" type="static_transform_publisher"
        name="vehicle_is_odom"
        args="0 0 0 0 0 0 /odom /vehicle 1000" />

</launch>
<commit_msg>update comment<commit_after><!-- -*- mode: XML -*- -->
<!-- define transforms for static vehicle sensors -->

<launch>

  <!-- publish  /vehicle -> /velodyne transform -->
  <node pkg="tf" type="static_transform_publisher"
        name="vehicle_velodyne_tf"
        args="0.393 0.278 2.4 -0.02155 0.0164 0.00621 /vehicle /velodyne 1000" />
  <!-- publish identity /odom -> /vehicle transform
       (for viewing sensor data for a static vehicle)
  -->
  <node pkg="tf" type="static_transform_publisher"
        name="vehicle_is_odom"
        args="0 0 0 0 0 0 /odom /vehicle 1000" />

</launch>

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