visual_servoing.launch

<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find visual_servoing)/urdf/visual_servoing_scene.xacro'" />
  <param name="simulation" type="boolean" value="true" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find visual_servoing)/config/robot_state_visualize.rviz" required="true" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
    <param name="use_gui" value="false" />
     <rosparam param="/source_list">[joint_states_cmd]</rosparam>
  </node>
  <!-- node name="relay_my_robot_arm_joint_cmd2Joint_telem" pkg="topic_tools" type="relay" args="/my_robot_arm/joint_cmd /my_robot_arm/joint_telem"/-->
  <group ns="camera2">
  <node pkg="tf" type="static_transform_publisher" name="camera_broadcaster"
      args="0 0 0 0 0 0 1 tool0 camera2 10" />

  <node name="camera_info" pkg="rostopic" type="rostopic"
      args="pub camera_info sensor_msgs/CameraInfo
     '{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: 'camera2'},
      height: 720, width: 1280, distortion_model: 'plumb_bob',
      D: [0],
      K: [300.0, 0.0, 640, 0.0, 300.0, 360.0, 0.0, 0.0, 1.0],
      R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
      P: [300.0, 0.0, 640, 0.0, 0.0, 300, 360, 0.0, 0.0, 0.0, 1.0, 0.0],
      binning_x: 0, binning_y: 0,
      roi: {x_offset: 0, y_offset: 0, height: 720, width: 1280, do_rectify: false}}' -r 2"
      output="screen"/>
  </group>
</launch>