From 7d1b6a62e28036291dea8d8a82988f959d5ba51e Mon Sep 17 00:00:00 2001
From: Adam Allevato <adam.d.allevato@gmail.com>
Date: Thu, 10 Aug 2017 11:54:38 -0500
Subject: [PATCH] Force robot_state_publisher to use Indigo behavior

the use_static_tf flag defaults to "true" in Kinetic. This is different
from the Indigo behavior and causes issues when running the robot in simulation
(the TF trees are not properly connected).
---
 hlpr_gazebo/launch/state_publishers.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/hlpr_gazebo/launch/state_publishers.launch b/hlpr_gazebo/launch/state_publishers.launch
index 28a16d9..727d8bb 100644
--- a/hlpr_gazebo/launch/state_publishers.launch
+++ b/hlpr_gazebo/launch/state_publishers.launch
@@ -5,6 +5,7 @@
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="100.0" />
     <param name="tf_prefix" type="string" value="" />
+    <param name="use_tf_static" value="false"/>
   </node>
 
   <!-- Fake Calibration -->