diff --git a/ouster-ros/launch/record.independent.launch.xml b/ouster-ros/launch/record.independent.launch.xml
index b6a11ced..7c03f590 100644
--- a/ouster-ros/launch/record.independent.launch.xml
+++ b/ouster-ros/launch/record.independent.launch.xml
@@ -74,7 +74,6 @@
-
diff --git a/ouster-ros/launch/replay.independent.launch.xml b/ouster-ros/launch/replay.independent.launch.xml
index 5541b5ae..787ffac6 100644
--- a/ouster-ros/launch/replay.independent.launch.xml
+++ b/ouster-ros/launch/replay.independent.launch.xml
@@ -51,7 +51,6 @@
-
diff --git a/ouster-ros/launch/rviz.launch.py b/ouster-ros/launch/rviz.launch.py
index 2d753728..bf8ca655 100644
--- a/ouster-ros/launch/rviz.launch.py
+++ b/ouster-ros/launch/rviz.launch.py
@@ -24,30 +24,6 @@ def generate_launch_description():
ouster_ns_arg = DeclareLaunchArgument(
'ouster_ns', default_value='ouster')
- enable_static_tf = LaunchConfiguration('_enable_static_tf_publishers')
- enable_static_tf_arg = DeclareLaunchArgument(
- '_enable_static_tf_publishers', default_value='false')
-
- # NOTE: the two static tf publishers are rather a workaround to let rviz2
- # get going and not complain while waiting for the actual sensor frames
- # to be published that is when running rviz2 using a parent launch file
- # TODO: need to be able to propagate the modified frame names from the
- # parameters file to RVIZ launch py.
- sensor_imu_tf = Node(
- package="tf2_ros",
- executable="static_transform_publisher",
- name="stp_sensor_imu",
- namespace=ouster_ns,
- condition=IfCondition(enable_static_tf),
- arguments=["0", "0", "0", "0", "0", "0", "os_sensor", "os_imu"])
- sensor_ldr_tf = Node(
- package="tf2_ros",
- executable="static_transform_publisher",
- name="stp_sensor_lidar",
- namespace=ouster_ns,
- condition=IfCondition(enable_static_tf),
- arguments=["0", "0", "0", "0", "0", "0", "os_sensor", "os_lidar"])
-
rviz_node = Node(
package='rviz2',
namespace=ouster_ns,
@@ -59,8 +35,5 @@ def generate_launch_description():
return LaunchDescription([
ouster_ns_arg,
rviz_config_arg,
- enable_static_tf_arg,
- sensor_imu_tf,
- sensor_ldr_tf,
rviz_node
])
diff --git a/ouster-ros/launch/rviz.launch.xml b/ouster-ros/launch/rviz.launch.xml
index 82197418..54b490b7 100644
--- a/ouster-ros/launch/rviz.launch.xml
+++ b/ouster-ros/launch/rviz.launch.xml
@@ -4,8 +4,6 @@
description="Override the default namespace of all ouster nodes"/>
-
@@ -15,15 +13,6 @@
-
-
-
\ No newline at end of file
diff --git a/ouster-ros/launch/sensor.composite.launch.py b/ouster-ros/launch/sensor.composite.launch.py
index c54441c0..0db299ac 100644
--- a/ouster-ros/launch/sensor.composite.launch.py
+++ b/ouster-ros/launch/sensor.composite.launch.py
@@ -77,8 +77,7 @@ def generate_launch_description():
Path(ouster_ros_pkg_dir) / 'launch' / 'rviz.launch.py'
rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([str(rviz_launch_file_path)]),
- condition=IfCondition(rviz_enable),
- launch_arguments={'_enable_static_tf_publishers': 'false'}.items()
+ condition=IfCondition(rviz_enable)
)
# HACK: to configure and activate the the sensor since state transition
diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
index 2935c6db..717cabd0 100644
--- a/ouster-ros/launch/sensor.composite.launch.xml
+++ b/ouster-ros/launch/sensor.composite.launch.xml
@@ -79,7 +79,6 @@
-
diff --git a/ouster-ros/launch/sensor.independent.launch.py b/ouster-ros/launch/sensor.independent.launch.py
index f7d239fe..8ef67d4f 100644
--- a/ouster-ros/launch/sensor.independent.launch.py
+++ b/ouster-ros/launch/sensor.independent.launch.py
@@ -105,8 +105,7 @@ def generate_launch_description():
Path(ouster_ros_pkg_dir) / 'launch' / 'rviz.launch.py'
rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([str(rviz_launch_file_path)]),
- condition=IfCondition(rviz_enable),
- launch_arguments={'_enable_static_tf_publishers': 'false'}.items()
+ condition=IfCondition(rviz_enable)
)
return launch.LaunchDescription([
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index e192dd9d..1bb6f464 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -77,7 +77,6 @@
-
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index a6f5f186..77af0335 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -87,7 +87,6 @@
-