From 1ff46dc6b0232e6b6184336b6ee14935a9ea263f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 21 Dec 2017 23:44:35 +0300
Subject: [PATCH] local_origin_upside_down frame (for ceiling markers
 orientation)

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

diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index ec3e44ab..35099f72 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -34,6 +34,8 @@
         <param name="num_worker_threads" value="2"/>
     </node>
 
+    <node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
+
     <!-- fcu_horiz frame -->
     <node pkg="nodelet" type="nodelet" name="fcu_horiz" args="standalone clever/fcu_horiz" output="screen" clear_params="true"/>