From 1a6e376b1e069700b572f936f8b54e28e926cc57 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 7 Dec 2017 01:18:26 +0300
Subject: [PATCH] bottom_camera_optical shift

---
 clever/launch/bottom_camera.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch
index fcef5b06..81f50599 100644
--- a/clever/launch/bottom_camera.launch
+++ b/clever/launch/bottom_camera.launch
@@ -5,8 +5,8 @@
 
     <!-- the bottom facing camera -->
 
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 0 -1.5707963 0 3.1415926 fcu bottom_camera"/>-->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 0 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>
 
     <node pkg="nodelet" type="nodelet" name="bottom_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
         <param name="frame_id" value="bottom_camera_optical"/>