Add camera frame rviz

[rickstaa]

In order to show the point cloud and to plan in the robot frame, I need to add the camera frame to rviz. This can be done using the checkerboard and the chessboard_calibration.py i created.

Plan

First, add a static calibration frame which is hardcoded in the launch file and add the camera frame publisher in the grasp_client. Then later I can create a service to do this.

References

-https://wiki.ros.org/tf/Tutorials

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