<launch>
  <!-- <arg name="fixed_frame_id" default="odom" /> -->
  <arg name="fixed_frame_id" default="lleg_end_coords" />
  <arg name="image_input" default="/multisense_local/organized_image_points2_color" />
  <arg name="laser_input" default="/full_cloud2" />

  <include file="$(find jsk_pcl_ros)/launch/visualize_plane_distance.launch">
    <arg name="namespace" value="visualize_iamge_error"/>
    <arg name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
    <arg name="input" value="$(arg image_input)"/>
  </include>
  
  <include file="$(find jsk_pcl_ros)/launch/visualize_plane_distance.launch">
    <arg name="namespace" value="visualize_laser_error"/>
    <arg name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
    <arg name="input" value="$(arg laser_input)"/>
  </include>

  <!-- rviz -->
  <node name="jaxon_gazebo_rviz" pkg="rviz" type="rviz"
        args="-sync -d $(find jsk_calibration)/config/camera_calib.rviz"
        respawn="true"/>
  
</launch>
