From 8bb3f751ca36e9900394a8ba45af0bddddad4017 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 8 Apr 2019 20:31:00 +0300
Subject: [PATCH] Set correct camera frame by default for nti

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

diff --git a/clever/launch/main_camera.launch b/clever/launch/main_camera.launch
index 92bec22d..7e38aa21 100644
--- a/clever/launch/main_camera.launch
+++ b/clever/launch/main_camera.launch
@@ -5,10 +5,10 @@
     <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
 
     <!-- camera is oriented downward, camera cable goes backward [option 1] -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
+    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
 
     <!-- camera is oriented downward, camera cable goes forward  [option 2] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
+        <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.04 0 -0.08 1.5707963 0 3.1415926 base_link main_camera_optical"/>
 
     <!-- camera is oriented upward, camera cable goes backward   [option 3] -->
     <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->