rtabmap_ros/launch/demo/kinect_frames.launch

<!-- Default frames for Kinect/PSDK5 devices
     Places depth and RGB cameras in the same plane with 2.5cm baseline.
     Calibration may improve results, but these defaults are reasonably accurate.
-->
<launch>
  <arg name="camera" default="camera" />
  <arg name="ns" default="" />

  <arg name="pi/2" value="1.5707963267948966" />
  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />

  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
        args="0 -0.02  0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />  
  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
        args="0 -0.045 0 0 0 0  $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />  
  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame  100" />  
  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />  
</launch>

<!-- TODO Could instead store these in camera_pose_calibration format for consistency
     with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->