From c4308d4f8f1ddcd457278c108015dbce8a0339e3 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Fri, 5 May 2023 12:45:02 -0700
Subject: [PATCH] Remove rviz static transform publishers hack

---
 .../launch/record.independent.launch.xml      |  1 -
 .../launch/replay.independent.launch.xml      |  1 -
 ouster-ros/launch/rviz.launch.py              | 27 -------------------
 ouster-ros/launch/rviz.launch.xml             | 11 --------
 ouster-ros/launch/sensor.composite.launch.py  |  3 +--
 ouster-ros/launch/sensor.composite.launch.xml |  1 -
 .../launch/sensor.independent.launch.py       |  3 +--
 .../launch/sensor.independent.launch.xml      |  1 -
 ouster-ros/launch/sensor_mtp.launch.xml       |  1 -
 9 files changed, 2 insertions(+), 47 deletions(-)

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 @@
   <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="false"/>
   </include>
 
   <let name="_use_bag_file_name" value="$(eval '\'$(var bag_file)\' != \'b\'')"/>
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 @@
   <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="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/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"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="_enable_static_tf_publishers" default="false"
-    description="boolean value to enable static tf publishers"/>
 
   <arg name="sensor_frame" default="os_sensor" description="value can not be empty"/>
   <arg name="lidar_frame" default="os_lidar" description="value can not be empty"/>
@@ -15,15 +13,6 @@
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen"
       launch-prefix="bash -c 'sleep 5; $0 $@'" args="-d $(var rviz_config)"/>
-    <!-- NOTE: this is rather a workaround to let rviz2 get going and not complain while waiting
-      for the actual sensor frames to be published that is when when using the same launch file
-      to run rviz2 -->
-    <node if="$(var _enable_static_tf_publishers)"
-      pkg="tf2_ros" exec="static_transform_publisher" name="stp_sensor_imu"
-      args="0 0 0 0 0 0 $(var sensor_frame) $(var imu_frame)"/>
-    <node  if="$(var _enable_static_tf_publishers)"
-      pkg="tf2_ros" exec="static_transform_publisher" name="stp_sensor_lidar"
-      args="0 0 0 0 0 0 $(var sensor_frame) $(var lidar_frame)"/>
   </group>
 
 </launch>
\ 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 @@
   <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="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.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 @@
   <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="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index a6f5f186..77af0335 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -87,7 +87,6 @@
   <include if="$(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="$(var rviz_config)"/>
-    <arg name="_enable_static_tf_publishers" value="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>