From dd3a7a822a615c80f3b5266a051cef80fb4c6a61 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 6 Jun 2024 12:51:40 +0900 Subject: [PATCH] refactor(simple_planning_simulator): remove static odom tf publisher (#7265) Signed-off-by: Maxime CLEMENT --- .../launch/simple_planning_simulator.launch.py | 18 +----------------- 1 file changed, 1 insertion(+), 17 deletions(-) diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py index 0070646a20d49..a8eb88f55df19 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -14,7 +14,6 @@ import launch from launch.actions import DeclareLaunchArgument -from launch.actions import GroupAction from launch.actions import OpaqueFunction from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node @@ -78,22 +77,7 @@ def launch_setup(context, *args, **kwargs): ], ) - map_to_odom_tf_publisher = Node( - package="tf2_ros", - executable="static_transform_publisher", - name="static_map_to_odom_tf_publisher", - output="screen", - arguments=[ - "--frame-id", - "map", - "--child-frame-id", - "odom", - ], - ) - - group = GroupAction([simple_planning_simulator_node, map_to_odom_tf_publisher]) - - return [group] + return [simple_planning_simulator_node] def generate_launch_description():