base link frame to left camera frame should follow ROS z-up convention

[protobits]

As per ROS conventions, camera coordinate system should point Z-forward. Also, ROS world defines Z as up. Therefore, the camera base-link -> left frame orientation should not be identity, but include the z-up to z-forward rotation (corresponding quaternion should be x: 0.5, y: -0.5, z: 0.5, w: -0.5).