Incorrect TF frame `camera_link` when using `view_d435_model.launch`

[peci1]

When you are viewing the model using view_d435_model.launch, this is the TF you get:

rosrun tf tf_echo camera_link camera_depth_frame
At time 1539958677.743
- Translation: [0.015, 0.018, 0.013]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]

Whereas with the live camera, you get:

rosrun tf tf_echo camera_link camera_depth_frame
At time 0.000
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]

Indeed, in the xacro file used in viewing, there is a non-zero transform between camera_link and camera_depth_frame, whereas in the driver source, camera_link and camera_depth_frame coincide.

I assume the XACRO file should be fixed.

[atyshka]

@doronhi Here is a detailed video of the issue. I started the model which had the correct transforms but then everything is offset when the driver is started.

When the driver is started the frames no longer line up with the geometry. @peci1 recommends changing the xacro, but I like the origin where it is. The mounting point is a lot more logical than the 0 point corner of the model. I'd propose either changing the transforms in the driver to match the xacro or adding a launch file param to disable tf publishing if static transforms are already being published by a robot state publisher. I'd opt for the second option, many other sensors use this parameter and it won't change behavior unless used.

[atyshka]

@doronhi Any suggestions on how you'd like to handle this issue?