Minor vision config change for testing

src/hollander_bringup/config/vision.config.yaml

@@ -39,7 +39,7 @@ hollander:
           depth_height: 0
           depth_fps: 0
           clip_distance: -2.0 # Remove from the depth image all values above a given value (meters).
-          align_depth: true # If set to true, will publish additional topics with all the images aligned to the depth image.
+          align_depth: false # If set to true, will publish additional topics with all the images aligned to the depth image.
 
           pointcloud.enable: true
 

src/hollander_bringup/launch/vision.launch.py

@@ -36,12 +36,6 @@ def generate_launch_description():
         emulate_tty=True,
     )
 
-    front_camera_transform = Node(
-        package='tf2_ros',
-        executable='static_transform_publisher',
-        arguments=['-0.21', '0', '1.788', '0', '0', '0', 'base_link', 'camera_1571_link']
-    )
-
     back_camera = Node(
         package='realsense2_camera',
         executable='realsense2_camera_node',
@@ -53,17 +47,7 @@ def generate_launch_description():
         emulate_tty=True,
     )
 
-    back_camera_transform = Node(
-        package='tf2_ros',
-        executable='static_transform_publisher',
-        arguments=['-0.27', '0', '0.255', '3.1415', '0', '0', 'base_link', 'camera_1502_link']
-    )
-
-    return LaunchDescription(
-        declare_configurable_parameters(configurable_parameters) +
-        [
+    return LaunchDescription( declare_configurable_parameters(configurable_parameters) + [
             front_camera,
-            # front_camera_transform,
             back_camera,
-            # back_camera_transform,
         ])