From 681335adc801af52473f58abc5c7c122a62edbf4 Mon Sep 17 00:00:00 2001
From: Cameron Brown <me@cbrxyz.com>
Date: Thu, 7 Dec 2023 17:02:41 -0500
Subject: [PATCH] Add param to reduce TF warnings in VRX

---
 .../navigator_launch/launch/vrx/vrx_tf.launch        | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch
index f46bcca90..a9bdd66e8 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch
@@ -1,5 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+    <!-- Silent unnecessary TF warnings about missing joint states or missing transforms (cred: osrf/vrx#340)-->
+    <rosparam param="silent_tf_failure">true</rosparam>
+
     <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher">
       <param name="use_tf_static" value="false" />
     </node>
@@ -11,9 +14,10 @@
       </rosparam>
     </node>
 
-  <!--Publishes connection between wamv/imu_wamv_link and wamv/base_link. Same for wamv/gps_wamv_link.-->
-  <node pkg="tf2_ros" type="static_transform_publisher" name="imu_base_link_fix" args="0.3 -0.2 1.3 0 0 0 1 wamv/base_link wamv/imu_wamv_link" />
-  <node pkg="tf2_ros" type="static_transform_publisher" name="gps_base_link_fix" args="-0.85 0 1.3 0 0 1 wamv/base_link wamv/ins_link" />
-  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_enu_fix" args="0 0 0 0 0 0 1 enu wamv/base_link" />
+
+    <!--Publishes connection between wamv/imu_wamv_link and wamv/base_link. Same for wamv/gps_wamv_link.-->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="imu_base_link_fix" args="0.3 -0.2 1.3 0 0 0 1 wamv/base_link wamv/imu_wamv_link" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="gps_base_link_fix" args="-0.85 0 1.3 0 0 1 wamv/base_link wamv/ins_link" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_enu_fix" args="0 0 0 0 0 0 1 enu wamv/base_link" />
 
 </launch>