test_tf.cfg

{
    "url"     : "http://54.216.129.26:9000/",
    "userID"  : "testUser",
    "password": "testUser",
    "robotID" : "cloudbot1",
    
    "containers" : [
        {
            "cTag" : "cloudbot1_container"
        }
    ],
    
    "nodes" : [

	{
            "cTag" : "cloudbot1_container",
            "nTag" : "camera_base_link",
            "pkg"  : "tf",
            "exe"  : "static_transform_publisher",
	    "args" : "0 -0.045 0 0 0 0  /camera_link /camera_rgb_frame 33.33"
        },
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "camera_base_link1",
            "pkg"  : "tf",
            "exe"  : "static_transform_publisher",
	    "args" : "0 0 0 -1.5707963267948966 0 -1.5707963267948966 /camera_rgb_frame /camera_rgb_optical_frame 33.33"
        }
    ],
    
    "parameters" : [],
    
    "interfaces" : [

	{
            "eTag"  : "cloudbot1_container",
            "iTag"  : "tfCloudSubscriber", 
            "iType" : "SubscriberInterface",
            "iCls"  : "tf/tfMessage", 
            "addr"  : "/tf"
        },
       
	{
            "eTag"  : "cloudbot1",
            "iTag"  : "tfRobotPublisher", 
            "iType" : "PublisherConverter",
            "iCls"  : "tf/tfMessage", 
            "addr"  : "/tf"
        },

	{
            "eTag"  : "cloudbot1_container",
            "iTag"  : "tfCloudPublisher", 
            "iType" : "PublisherInterface",
            "iCls"  : "tf/tfMessage", 
            "addr"  : "/tf"
        },

	{
            "eTag"  : "cloudbot1",
            "iTag"  : "tfRobotSubscriber", 
            "iType" : "SubscriberConverter",
            "iCls"  : "tf/tfMessage", 
            "addr"  : "/tf"
        }

	
    ],
    
    "connections" : [
        {
            "tagA" : "cloudbot1/tfRobotPublisher",
            "tagB" : "cloudbot1_container/tfCloudSubscriber"
        }, {
            "tagA" : "cloudbot1/tfRobotSubscriber",
            "tagB" : "cloudbot1_container/tfCloudPublisher"
        }
    ]
}