old_tf_to_new_tf.launch

<?xml version="1.0"?>
<launch>
  <arg name="use_rviz" default="false" />

  <node name="flyer" pkg="tf_demo" type="flyer.py" output="screen" />

  <!-- TODO(lucaw) maybe the old tf script could handle an array of offsets? -->
  <node name="old_tf_to_new_tf1" pkg="tf_demo" type="old_tf_to_new_tf" output="screen" >
    <param name="lookup_child" value="flyer" />
    <param name="broadcast_child" value="flyer_old1" />
    <param name="zero_rotation" value="true" />
  </node>

  <node name="old_tf_to_new_tf2" pkg="tf_demo" type="old_tf_to_new_tf" output="screen" >
    <param name="lookup_child" value="flyer" />
    <param name="broadcast_child" value="flyer_old2" />
    <param name="zero_z" value="true" />
  </node>

  <node name="old_tf_to_new_tf3" pkg="tf_demo" type="old_tf_to_new_tf.py" output="screen" >
    <param name="lookup_child" value="flyer" />
    <param name="broadcast_child" value="flyer_old3" />
    <param name="zero_y" value="true" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz"
    args="-d $(find tf_demo)/config/old_tf_to_new_tf.rviz"
    if="$(arg use_rviz)"/>

  <node name="tf_path" pkg="tf_demo" type="tf_path.py" output="screen" >
    <param name="parent" value="map" />
    <param name="child" value="flyer" />
    <param name="update_rate" value="5.0" />
    <param name="cache_time" value="10.0" />
  </node>

  <!--node name="tf_trail" pkg="hector_trajectory_server" type="hector_trajectory_server"
    output="screen" >
    <param name="name_target_frame_name" value="map" />
    <param name="source_frame_name" value="flyer" />
    <param name="trajectory_publish_rate" value="4.0" />
  </node-->

</launch>