Fix point cloud direction

orbbec_camera/launch/ob_multi_camera.launch.py

@@ -0,0 +1,49 @@
+from launch import LaunchDescription
+import launch_ros.actions
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+    ob_params_file1 = (
+        get_package_share_directory("orbbec_camera")
+        + "/params/multi_camera/ob_camera1_params.yaml"
+    )
+    ob_params_file2 = (
+        get_package_share_directory("orbbec_camera")
+        + "/params/multi_camera/ob_camera2_params.yaml"
+    )
+    return LaunchDescription(
+        [
+            launch_ros.actions.Node(
+                package="orbbec_camera",
+                namespace="camera1",
+                name="camera1",
+                executable="orbbec_camera_node",
+                output="screen",
+                parameters=[ob_params_file1],
+            ),
+            launch_ros.actions.Node(
+                package="orbbec_camera",
+                namespace="camera2",
+                name="camera2",
+                executable="orbbec_camera_node",
+                output="screen",
+                parameters=[ob_params_file2],
+            ),
+            # dummy static transformation from camera1 to camera2
+            launch_ros.actions.Node(
+                package="tf2_ros",
+                executable="static_transform_publisher",
+                arguments=[
+                    "0",
+                    "0",
+                    "0",
+                    "0",
+                    "0",
+                    "0",
+                    "camera1_link",
+                    "camera2_link",
+                ],
+            ),
+        ]
+    )