Added use_sim_time paramter to joint_state_publisher

Removed static transforms for wheeldrops

irobot_create_common/irobot_create_common_bringup/launch/robot_description.launch.py

@@ -46,55 +46,14 @@ def generate_launch_description():
         executable='joint_state_publisher',
         name='joint_state_publisher',
         output='screen',
+        parameters=[{'use_sim_time': True}],
     )
 
-    left_wheel_drop_stf = Node(
-            name='left_wheel_drop_stf',
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            output='screen',
-            arguments=[
-                '--x', '0.0',
-                '--y', '0.1165',
-                '--z', '0.0402',
-                '--roll', '-1.5707',
-                '--pitch', '0.0',
-                '--yaw', '0.0',
-                '--frame-id', 'base_link',
-                '--child-frame-id', 'wheel_drop_left',
-            ],
-            remappings=[
-                ('/tf_static', 'tf_static')
-            ],
-        )
-
-    right_wheel_drop_stf = Node(
-            name='right_wheel_drop_stf',
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            output='screen',
-            arguments=[
-                '--x', '0.0',
-                '--y', '-0.1165',
-                '--z', '0.0402',
-                '--roll', '-1.5707',
-                '--pitch', '0.0',
-                '--yaw', '0.0',
-                '--frame-id', 'base_link',
-                '--child-frame-id', 'wheel_drop_right',
-            ],
-            remappings=[
-                ('/tf_static', 'tf_static')
-            ],
-        )
-
     # Define LaunchDescription variable
     ld = LaunchDescription(ARGUMENTS)
 
     # Add nodes to LaunchDescription
     ld.add_action(joint_state_publisher)
     ld.add_action(robot_state_publisher)
-    ld.add_action(left_wheel_drop_stf)
-    ld.add_action(right_wheel_drop_stf)
 
     return ld