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This was solved by publishing a static transform between the camera and base_link according to the following qt: 0 0 0 - 1.58 0 - 1.58

This was solved by publishing a static transform between the camera and base_link according to the following ~~qt:~~ command to your launch file: <node pkg="tf" type="static_transform_publisher" name="tf" args="0 0 0 -1.58 0 ~~- 1.58 0 - 1.58~~-1.58 base_link camera_1 100"/> This publishes a transform from your base_link to camera_link and rotates according to the above angles.

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