Remove static publisher

stretch_moveit_config/launch/demo.launch.py

@@ -87,13 +87,6 @@ def generate_launch_description():
                                  ompl_planning_pipeline_config,
                                  kinematics_yaml])
 
-    # TODO(JafarAbdi): We don't need this since the base is mobile
-    # Static TF
-    static_tf = Node(package='tf2_ros',
-                     executable='static_transform_publisher',
-                     name='static_transform_publisher',
-                     output='log',
-                     arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'odom', 'base_link'])
 
     # Publish TF
     robot_state_publisher = Node(package='robot_state_publisher',
@@ -116,4 +109,5 @@ def generate_launch_description():
     for controller in ['stretch_arm_controller', 'gripper_controller']:
         load_controllers += [ExecuteProcess(cmd=['ros2 control load_configure_controller', controller], shell=True, output='screen', on_exit=[ExecuteProcess(cmd=['ros2 control switch_controllers --start-controllers', controller], shell=True, output='screen')])]
 
-    return LaunchDescription([rviz_node, static_tf, robot_state_publisher, run_move_group_node, fake_joint_driver_node ] + load_controllers)
+
+    return LaunchDescription([rviz_node, robot_state_publisher, run_move_group_node, fake_joint_driver_node ] + load_controllers)