publish_handeye_tf.launch

<?xml version="1.0"?>
<launch>
    <arg name="eye_on_hand" doc="eye-on-hand instead of eye-on-base" default="true" />
    <arg name="namespace_prefix" default="xarm_realsense_handeyecalibration" />
    <arg if="$(arg eye_on_hand)" name="namespace" value="$(arg namespace_prefix)_eye_on_hand" />
    <arg unless="$(arg eye_on_hand)" name="namespace" value="$(arg namespace_prefix)_eye_on_base" />

    <!--it is possible to override the link names saved in the yaml file in case of name clashes, for example-->
    <arg if="$(arg eye_on_hand)" name="robot_effector_frame" default="" />
    <arg unless="$(arg eye_on_hand)" name="robot_base_frame" default="" />
    <arg name="tracking_base_frame" default="" />
    
    <arg name="inverse" default="false" />
    <!-- <arg name="calibration_file" default="" /> -->
    <!-- here, use the sample eye-on-hand calibration result, please change with your own result -->
    <arg name="calibration_file" default="$(find d435i_xarm_setup)/config/xarm_realsense_handeyecalibration_eye_on_hand_sample_result.yaml" />
    
    <!--publish hand-eye calibration-->
    <group ns="$(arg namespace)">
        <param name="eye_on_hand" value="$(arg eye_on_hand)" />
        <param unless="$(arg eye_on_hand)" name="robot_base_frame" value="$(arg robot_base_frame)" />
        <param if="$(arg eye_on_hand)" name="robot_effector_frame" value="$(arg robot_effector_frame)" />
        <param name="tracking_base_frame" value="$(arg tracking_base_frame)" />
        <param name="inverse" value="$(arg inverse)" />
        <param name="calibration_file" value="$(arg calibration_file)" />
        <node name="$(anon handeye_publisher)" pkg="easy_handeye" type="publish.py" output="screen"/>
    </group>
</launch>