Revision history [back]

That is one way you can do it. If this transform is static (i.e. your relationship between base link and the camera doesn't change in time) then you can use the Static TF Publisher (http://wiki.ros.org/static_transform_publisher) as a way to advertise the transform.

If you have _more_ than just 1 transform to publish, that's a good candidate to make a URDF file with these transformations in XML format (many examples can be seen in any robot description package), and load those transforms in a roslaunch file.