static transformer question

Hi I am trying to build a map using slam. I am using Arduino due and Ros indigo, I am capable of building map with few error I have this line in my launch file: node pkg="tf" type="static_transform_publisher" name="base_to_kinect_broadcaster" args="-0.17 0.04 0.1975 0 0 0 \/base_link \/camera_link 100" /> I need to know if this line is necessary and what the parameter after the arg= mean and how to tune them. this is my main question. I hope any one can replay with good answer I just need explanation and how to tune the parameter and what exactly this parameter mean.