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Quoting tf - ROS,

static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians. (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X). The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.

static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms

Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.

To answer your question : The coordinate systems of your camera and base link are different. Each camera image needs to be transformed into the global coordinate system. This transformation happens via the base_link frame. If you run

rosrun tf view_frames

you will see the frames in your system.

To set the arg values properly, identify your base_link coordinate system origin and the camera coordinate system origin, measure the transformation and rotation between the two systems and update x,y,z, roll, pitch, yaw accordingly.