David Gutierrez

> Right, this is one of the things I wanted to support with having `robot_description` be a topic, rather than a parameter. In my original thinking, `robot_state_publisher` would be the...

> > Is this supported right now? Im developing modular robots and it would be a perfect fit to change the URDF on-line > > I would say that it...

> 1. You are using an older version of robot_state_publisher than what I looked at (master branch), and there is a bug in that older version. What version of robot_state_publisher...

Yes, at least for the static ones, the transforms that were removed from the URDF are being published in `/tf_static` with the time stamp from the last time they were...

I don't know if this makes sense but a cleaner/filter that removes from the `net_message` all the tf's that are old, maybe the ones that have not being calculated in...