From 71c52a8479b21dda448eef6357caa00e5cb38efe Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Fri, 5 May 2023 12:32:14 -0700
Subject: [PATCH] Disable rviz static transform publisher

---
 ouster-ros/launch/record.composite.launch.xml   | 2 +-
 ouster-ros/launch/sensor.independent.launch.xml | 2 +-
 ouster-ros/launch/sensor_mtp.launch.xml         | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
index a27d47f1..a306b1e0 100644
--- a/ouster-ros/launch/record.composite.launch.xml
+++ b/ouster-ros/launch/record.composite.launch.xml
@@ -81,7 +81,7 @@
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">
     <arg name="ouster_ns" value="$(var ouster_ns)"/>
     <arg name="rviz_config" value="$(var rviz_config)"/>
-    <arg name="_enable_static_tf_publishers" value="true"/>
+    <arg name="_enable_static_tf_publishers" value="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index 62a1f110..e192dd9d 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -77,7 +77,7 @@
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">
     <arg name="ouster_ns" value="$(var ouster_ns)"/>
     <arg name="rviz_config" value="$(var rviz_config)"/>
-    <arg name="_enable_static_tf_publishers" value="true"/>
+    <arg name="_enable_static_tf_publishers" value="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index 5d7885c4..06b1da27 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -85,7 +85,7 @@
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">
     <arg name="ouster_ns" value="$(var ouster_ns)"/>
     <arg name="rviz_config" value="$(var rviz_config)"/>
-    <arg name="_enable_static_tf_publishers" value="true"/>
+    <arg name="_enable_static_tf_publishers" value="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>