From 4361969cbd03e7667531d11fd2a508aafd53117d Mon Sep 17 00:00:00 2001
From: Adam Aposhian <aposhian.dev@gmail.com>
Date: Thu, 27 Apr 2023 16:31:19 -0600
Subject: [PATCH 1/3] use separate params for tf frames

---
 ouster-ros/config/parameters.yaml               |  4 +++-
 ouster-ros/launch/record.composite.launch.xml   |  8 ++++++--
 ouster-ros/launch/replay.composite.launch.xml   |  8 ++++++--
 ouster-ros/launch/sensor.composite.launch.xml   |  8 ++++++--
 ouster-ros/launch/sensor.independent.launch.xml |  8 ++++++--
 ouster-ros/launch/sensor_mtp.launch.xml         |  8 ++++++--
 ouster-ros/src/os_cloud_node.cpp                | 13 ++++++-------
 7 files changed, 39 insertions(+), 18 deletions(-)

diff --git a/ouster-ros/config/parameters.yaml b/ouster-ros/config/parameters.yaml
index 44189e15..9c0b7590 100644
--- a/ouster-ros/config/parameters.yaml
+++ b/ouster-ros/config/parameters.yaml
@@ -12,5 +12,7 @@ ouster/os_sensor:
     imu_port: 0
 ouster/os_cloud:
   ros__parameters:
-    tf_prefix: ''
+    sensor_frame: ''    # Frame of physical sensor
+    lidar_frame: ''     # Frame of lidar scans
+    imu_frame: ''       # Frame of IMU data
     timestamp_mode: ''
diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
index d219d093..aab8335b 100644
--- a/ouster-ros/launch/record.composite.launch.xml
+++ b/ouster-ros/launch/record.composite.launch.xml
@@ -41,7 +41,9 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
+  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
+  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
+  <arg name="imu_frame" default="" description="tf frame of imu data"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -59,7 +61,9 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="tf_prefix" value="$(var tf_prefix)"/>
+        <param name="lidar_frame" value="$(var lidar_frame)"/>
+        <param name="sensor_frame" value="$(var sensor_frame)"/>
+        <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
index 2941ba30..6732a671 100644
--- a/ouster-ros/launch/replay.composite.launch.xml
+++ b/ouster-ros/launch/replay.composite.launch.xml
@@ -18,7 +18,9 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
+  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
+  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
+  <arg name="imu_frame" default="" description="tf frame of imu data"/>
 
   <let name="_use_metadata_file" value="$(eval '\'$(var metadata)\' != \'\'')"/>
 
@@ -29,7 +31,9 @@
     </node>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="tf_prefix" value="$(var tf_prefix)"/>
+        <param name="lidar_frame" value="$(var lidar_frame)"/>
+        <param name="sensor_frame" value="$(var sensor_frame)"/>
+        <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
index cd2965c1..d50b4dfc 100644
--- a/ouster-ros/launch/sensor.composite.launch.xml
+++ b/ouster-ros/launch/sensor.composite.launch.xml
@@ -39,7 +39,9 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
+  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
+  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
+  <arg name="imu_frame" default="" description="tf frame of imu data"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -57,7 +59,9 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="tf_prefix" value="$(var tf_prefix)"/>
+        <param name="lidar_frame" value="$(var lidar_frame)"/>
+        <param name="sensor_frame" value="$(var sensor_frame)"/>
+        <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index a40c09f7..64d39c40 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -39,7 +39,9 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
+  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
+  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
+  <arg name="imu_frame" default="" description="tf frame of imu data"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -56,7 +58,9 @@
       <param name="metadata" value="$(var metadata)"/>
     </node>
     <node pkg="ouster_ros" exec="os_cloud" name="os_cloud" output="screen">
-      <param name="tf_prefix" value="$(var tf_prefix)"/>
+      <param name="lidar_frame" value="$(var lidar_frame)"/>
+        <param name="sensor_frame" value="$(var sensor_frame)"/>
+        <param name="imu_frame" value="$(var imu_frame)"/>
       <param name="timestamp_mode" value="$(var timestamp_mode)"/>
     </node>
     <node pkg="ouster_ros" exec="os_image" name="os_image" output="screen"/>
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index 7fe115f7..f604a9d9 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -47,7 +47,9 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
+  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
+  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
+  <arg name="imu_frame" default="" description="tf frame of imu data"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -65,7 +67,9 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="tf_prefix" value="$(var tf_prefix)"/>
+        <param name="lidar_frame" value="$(var lidar_frame)"/>
+        <param name="sensor_frame" value="$(var sensor_frame)"/>
+        <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp
index d4a451c4..05960b3d 100644
--- a/ouster-ros/src/os_cloud_node.cpp
+++ b/ouster-ros/src/os_cloud_node.cpp
@@ -91,17 +91,16 @@ class OusterCloud : public OusterProcessingNodeBase {
     }
 
     void declare_parameters() {
-        declare_parameter<std::string>("tf_prefix");
+        declare_parameter<std::string>("lidar_frame");
+        declare_parameter<std::string>("sensor_frame");
+        declare_parameter<std::string>("imu_frame");
         declare_parameter<std::string>("timestamp_mode");
     }
 
     void parse_parameters() {
-        auto tf_prefix = get_parameter("tf_prefix").as_string();
-        if (is_arg_set(tf_prefix) && tf_prefix.back() != '/')
-            tf_prefix.append("/");
-        sensor_frame = tf_prefix + "os_sensor";
-        imu_frame = tf_prefix + "os_imu";
-        lidar_frame = tf_prefix + "os_lidar";
+        sensor_frame = get_parameter("sensor_frame").as_string();
+        imu_frame = get_parameter("imu_frame").as_string();
+        lidar_frame = get_parameter("lidar_frame").as_string();
         auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
         use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";
     }

From 09b64150dcc9eb03c94882d757f793babe1f2eb0 Mon Sep 17 00:00:00 2001
From: Adam Aposhian <aposhian.dev@gmail.com>
Date: Thu, 27 Apr 2023 16:40:44 -0600
Subject: [PATCH 2/3] send static transforms once

---
 ouster-ros/src/os_cloud_node.cpp | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp
index 05960b3d..c3261a06 100644
--- a/ouster-ros/src/os_cloud_node.cpp
+++ b/ouster-ros/src/os_cloud_node.cpp
@@ -14,7 +14,7 @@
 
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/static_transform_broadcaster.h>
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <algorithm>
@@ -117,6 +117,7 @@ class OusterCloud : public OusterProcessingNodeBase {
         RCLCPP_INFO(get_logger(),
                     "OusterCloud: retrieved new sensor metadata!");
         info = sensor::parse_metadata(metadata_msg->data);
+        send_static_transforms();
         n_returns = get_n_returns();
         create_lidarscan_objects();
         compute_scan_ts = [this](const auto& ts_v) {
@@ -126,6 +127,13 @@ class OusterCloud : public OusterProcessingNodeBase {
         create_subscriptions();
     }
 
+    void send_static_transforms() {
+        tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
+            info.lidar_to_sensor_transform, sensor_frame, lidar_frame, now()));
+        tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
+            info.imu_to_sensor_transform, sensor_frame, imu_frame, now()));
+    }
+
     void create_lidarscan_objects() {
         // The ouster_ros drive currently only uses single precision when it
         // produces the point cloud. So it isn't of a benefit to compute point
@@ -195,9 +203,6 @@ class OusterCloud : public OusterProcessingNodeBase {
             pc_msg.header.frame_id = sensor_frame;
             lidar_pubs[i]->publish(pc_msg);
         }
-
-        tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
-            info.lidar_to_sensor_transform, sensor_frame, lidar_frame, msg_ts));
     }
 
     uint64_t impute_value(int last_scan_last_nonzero_idx,
@@ -311,8 +316,6 @@ class OusterCloud : public OusterProcessingNodeBase {
         auto imu_msg =
             ouster_ros::packet_to_imu_msg(*packet, msg_ts, imu_frame, pf);
         imu_pub->publish(imu_msg);
-        tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
-            info.imu_to_sensor_transform, sensor_frame, imu_frame, msg_ts));
     };
 
     static inline rclcpp::Time to_ros_time(uint64_t ts) {
@@ -341,7 +344,7 @@ class OusterCloud : public OusterProcessingNodeBase {
     std::string imu_frame;
     std::string lidar_frame;
 
-    tf2_ros::TransformBroadcaster tf_bcast;
+    tf2_ros::StaticTransformBroadcaster tf_bcast;
 
     bool use_ros_time;
 

From df7e292a1058fc0c5feb81162c8412e7d51f153d Mon Sep 17 00:00:00 2001
From: Adam Aposhian <aposhian.dev@gmail.com>
Date: Mon, 1 May 2023 10:08:01 -0600
Subject: [PATCH 3/3] Revert "use separate params for tf frames"

This reverts commit 4361969cbd03e7667531d11fd2a508aafd53117d.
---
 ouster-ros/config/parameters.yaml               |  4 +---
 ouster-ros/launch/record.composite.launch.xml   |  8 ++------
 ouster-ros/launch/replay.composite.launch.xml   |  8 ++------
 ouster-ros/launch/sensor.composite.launch.xml   |  8 ++------
 ouster-ros/launch/sensor.independent.launch.xml |  8 ++------
 ouster-ros/launch/sensor_mtp.launch.xml         |  8 ++------
 ouster-ros/src/os_cloud_node.cpp                | 13 +++++++------
 7 files changed, 18 insertions(+), 39 deletions(-)

diff --git a/ouster-ros/config/parameters.yaml b/ouster-ros/config/parameters.yaml
index 9c0b7590..44189e15 100644
--- a/ouster-ros/config/parameters.yaml
+++ b/ouster-ros/config/parameters.yaml
@@ -12,7 +12,5 @@ ouster/os_sensor:
     imu_port: 0
 ouster/os_cloud:
   ros__parameters:
-    sensor_frame: ''    # Frame of physical sensor
-    lidar_frame: ''     # Frame of lidar scans
-    imu_frame: ''       # Frame of IMU data
+    tf_prefix: ''
     timestamp_mode: ''
diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
index aab8335b..d219d093 100644
--- a/ouster-ros/launch/record.composite.launch.xml
+++ b/ouster-ros/launch/record.composite.launch.xml
@@ -41,9 +41,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -61,9 +59,7 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
index 6732a671..2941ba30 100644
--- a/ouster-ros/launch/replay.composite.launch.xml
+++ b/ouster-ros/launch/replay.composite.launch.xml
@@ -18,9 +18,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <let name="_use_metadata_file" value="$(eval '\'$(var metadata)\' != \'\'')"/>
 
@@ -31,9 +29,7 @@
     </node>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
index d50b4dfc..cd2965c1 100644
--- a/ouster-ros/launch/sensor.composite.launch.xml
+++ b/ouster-ros/launch/sensor.composite.launch.xml
@@ -39,9 +39,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -59,9 +57,7 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index 64d39c40..a40c09f7 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -39,9 +39,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -58,9 +56,7 @@
       <param name="metadata" value="$(var metadata)"/>
     </node>
     <node pkg="ouster_ros" exec="os_cloud" name="os_cloud" output="screen">
-      <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+      <param name="tf_prefix" value="$(var tf_prefix)"/>
       <param name="timestamp_mode" value="$(var timestamp_mode)"/>
     </node>
     <node pkg="ouster_ros" exec="os_image" name="os_image" output="screen"/>
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index f604a9d9..7fe115f7 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -47,9 +47,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -67,9 +65,7 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp
index c3261a06..061fe41c 100644
--- a/ouster-ros/src/os_cloud_node.cpp
+++ b/ouster-ros/src/os_cloud_node.cpp
@@ -91,16 +91,17 @@ class OusterCloud : public OusterProcessingNodeBase {
     }
 
     void declare_parameters() {
-        declare_parameter<std::string>("lidar_frame");
-        declare_parameter<std::string>("sensor_frame");
-        declare_parameter<std::string>("imu_frame");
+        declare_parameter<std::string>("tf_prefix");
         declare_parameter<std::string>("timestamp_mode");
     }
 
     void parse_parameters() {
-        sensor_frame = get_parameter("sensor_frame").as_string();
-        imu_frame = get_parameter("imu_frame").as_string();
-        lidar_frame = get_parameter("lidar_frame").as_string();
+        auto tf_prefix = get_parameter("tf_prefix").as_string();
+        if (is_arg_set(tf_prefix) && tf_prefix.back() != '/')
+            tf_prefix.append("/");
+        sensor_frame = tf_prefix + "os_sensor";
+        imu_frame = tf_prefix + "os_imu";
+        lidar_frame = tf_prefix + "os_lidar";
         auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
         use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";
     }