fix: coodinate system for xt32 sample

Signed-off-by: Akihito Ohsato <[email protected]>

edge_auto_launch/launch/perception_xt32_sample.launch.xml

@@ -34,12 +34,13 @@
       <include file="$(find-pkg-share edge_auto_launch)/launch/component/crop_box_filter.launch.xml">
         <arg name="input/pointcloud" value="/sensing/lidar/xt32/pointcloud_raw"/>
         <arg name="output/pointcloud" value="cropped/pointcloud"/>
+        <arg name="frame_id" value="base_link"/>
         <arg name="min_x" value="-0.15"/>
         <arg name="min_y" value="-0.15"/>
-        <arg name="min_z" value="-0.15"/>
+        <arg name="min_z" value="0.0"/>
         <arg name="max_x" value="0.15"/>
         <arg name="max_y" value="0.15"/>
-        <arg name="max_z" value="0.15"/>
+        <arg name="max_z" value="1.0"/>
         <arg name="negative" value="true"/>
       </include>
       <push-ros-namespace namespace="obstacle_segmentation"/>
@@ -68,6 +69,8 @@
     </group>
   </group>
 
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 1.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id base_link --child-frame-id lidar" />
+
   <!-- visualization -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share edge_auto_launch)/config/visualization/perception_xt32_sample.rviz"/>
   <node pkg="rqt_gui" exec="rqt_gui" name="rqt_gui" output="screen" args="--perspective-file $(find-pkg-share edge_auto_launch)/config/visualization/perception_xt32_sample.perspective"/>