publish_test_rgbd_data.launch

<launch>

    <arg name="base_dir" default="$(find ros_openpose_rgbd)" />
    <arg name="config_file" default="config/publish_test_rgbd_data_config.yaml" />

    <node pkg="tf" type="static_transform_publisher"
        name="set_camera_pose"
        args="0 0 1 0.5 -0.5 0.5 -0.5 base camera_link 5"
    />

    <!-- 
    The above quaternion is the same as:
    cam_pose = np.array([  # let camera faces +x direction.
        [0.,  0.,  1., 0.],
        [-1., 0.,  0., 0.],
        [0.,  -1., 0., 1.],
        [0.,  0., 0., 1.],
    ]) -->

    <node pkg="ros_pub_and_sub_rgbd_and_cloud"
        type="pub_rgbd_and_cloud.py"
        name="pub_rgbd_and_cloud"
        args="--base_dir $(arg base_dir) --config_file $(arg config_file)"
        output = "screen"
    />
    
    <node type="rviz" name="rviz" pkg="rviz" 
        args="-d $(find ros_openpose_rgbd)/config/rviz_color_depth_pcl.rviz" />

</launch>