tracker_artoolkit5: Only process image if new one arrived

calib: dynamic_transform_publisher_node: Refurbish interface and fixing dyn reconf by using asynch spinner during configuration
calib: one_shot_calib: Add RPY output
calib: Add empty yaml files for later coming TFs and launch file for camera TFs
localization: Make use of dynamic_transform_publisher camera TFs

Signed-off-by: Timo Korthals <tkorthals@cit-ec.uni-bielefeld.de>

Author: tik0

launch/start.launch

@@ -1,23 +1,19 @@
 <launch>
 
-<!--  <include file="$(find sense)/launch/example.launch"><arg name="CAM" value="1" /></include>
+  <!--START THE CAMERAS-->
+  <include file="$(find sense)/launch/example.launch"><arg name="CAM" value="1" /></include>
   <include file="$(find sense)/launch/example.launch"><arg name="CAM" value="2" /></include>
   <include file="$(find sense)/launch/example.launch"><arg name="CAM" value="3" /></include>
-  <include file="$(find sense)/launch/example.launch"><arg name="CAM" value="4" /></include>-->
+  <include file="$(find sense)/launch/example.launch"><arg name="CAM" value="4" /></include>
 
+  <!--START THE TRACKING-->
   <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="1" /></include>
-   <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="2" /></include> -->
-<!--   <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="3" /></include> -->
-<!--   <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="4" /></include>  -->
-  
-  
-  <node pkg="tf" type="static_transform_publisher" name="tf_world" args="0 0 0 0 0 0 world map 50" />
-  <node pkg="tf" type="static_transform_publisher" name="tf_odom" args="0 0 0 0 0 0 map odom 50" />
-  <node pkg="tf" type="static_transform_publisher" name="tf_cam1" args="0.926471 0.998127 3.80908 0.999948 -0.000610155 0.0100664 -0.00116429 odom cam1 50" />
-  <node pkg="tf" type="static_transform_publisher" name="tf_cam2" args="-1.11753 0.953969 3.85658 0.99974 -0.00253604 -0.0200204 -0.0105956 odom cam2 50" />
-  <node pkg="tf" type="static_transform_publisher" name="tf_cam3" args="-1.32182 -1.1788 3.62416 0.999997 0.00036887 0.00206406 0.00116467 odom cam3 50" />
-  <node pkg="tf" type="static_transform_publisher" name="tf_cam4" args="-0.842545 1.35542 3.7464 0.918062 -0.00312821 0.219655 0.330007 odom cam4 50" />
+  <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="2" /></include>
+  <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="3" /></include>
+  <include file="$(find tracker_artoolkit5)/launch/example.launch"><arg name="CAM" value="4" /></include>  
 
+  <!--TFs FOR CAMERAS-->
+  <include file="$(find calib)/launch/camera_tf.launch"/>
 
 
 <?ignore
@@ -26,7 +22,8 @@ prefix='<include file="$(find localization)/launch/generic_ekf.launch"><arg name
 sufix='" /></include>'
 for i in $(seq 0 63); do echo ${prefix}${i}${sufix};done
 ?>
-  
+
+
 <include file="$(find localization)/launch/generic_ekf.launch"><arg name="id" value="0" /></include>
 <include file="$(find localization)/launch/generic_ekf.launch"><arg name="id" value="1" /></include>
 <!--<include file="$(find localization)/launch/generic_ekf.launch"><arg name="id" value="2" /></include>