ceiling_cam.launch

<launch>
    <!-- Transform from camera to field -->
    <node pkg="tf2_ros" exec="static_transform_publisher" name="field_mount" args="--x -0.051 --y -0.113 --z 3.370 --qx -0.997 --qy -0.012 --qz 0.070 --qw 0.026 --frame-id ceiling_cam --child-frame-id field" />

    <!-- camera driver -->
    <node pkg="bitbots_basler_camera" exec="basler_camera" name="ceiling_cam_publisher" output="screen" >
        <param from="$(find-pkg-share bitbots_ceiling_cam)/config/camera_settings_ceiling_cam.yaml">
        <remap from="/camera/image_proc" to="/ceiling_cam/ceiling_cam_publisher/image_proc"/>
        <remap from="/camera/camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
    </node>

    <!-- image processing and apriltag detection -->
    <node_container pkg="rclcpp_components" exec="component_container" name="ceiling_cam_image_proc_container" namespace="">
        <composable_node pkg="image_proc" plugin="image_proc::RectifyNode" name="rectify">
            <remap from="image" to="/ceiling_cam/ceiling_cam_publisher/image_proc"/>
            <remap from="camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
            <remap from="image_rect" to="/ceiling_cam/ceiling_cam_publisher/image_proc_rect"/>
        </composable_node>
        <composable_node pkg="apriltag_ros" plugin="AprilTagNode" name="apriltag">
            <remap from="/apriltag/image" to="/ceiling_cam/ceiling_cam_publisher/image_proc_rect"/>
            <remap from="/apriltag/camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
            <param from="$(find-pkg-share bitbots_ceiling_cam)/config/april_tags.yaml"/>
        </composable_node>
    </node_container>
</launch>