坐标系关系观测指令序列
$ roscore
# 以EuRoC为例
$ rosrun tf static_transform_publisher -0.02 -0.06 0.10 -0.00770718 0.0104993 0.701753 0.7123 body cam0 100
$ rosrun rviz rviz
# then choose body as fixed frame
$ roscore
# 以EuRoC为例
$ rosrun tf static_transform_publisher -0.02 -0.06 0.10 -0.00770718 0.0104993 0.701753 0.7123 body cam0 100
$ rosrun rviz rviz
# then choose body as fixed frame