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### Publishing Intel Realsense d435i camera data
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To start publishing the data of the Realsense camera to Ros, you can use the installed `realsense2_camera` package. See the official documentation [here](https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy) for more information.
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You can automatically start the `rs_camera.launch` launch file of the `realsense2_camera` node with the bash command `startRealsense` in a terminal connected to the Husky.
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The `ouster_ros` package is installed in `/opt/ros/kinetic/share`.
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The `realsense2_camera` package is installed in `/opt/ros/kinetic/share`.
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### Transformation tree
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By default, the entire Husky robot and all default sensors have a static transformation tree. The sensors are linked to the `top_plate_link` frame of the Husky. You can see this default layout in the [frames.png](https://cosysgit.uantwerpen.be/wjansen/husky-usage-guide/-/raw/main/frames.png) image in this repository.
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