Migrate PublishStaticFrame usages to PublishTF#626
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PublishStaticFrame is now a deprecated alias in MoveIt Pro (PR PickNikRobotics/moveit_pro#19087). All example objectives that used it were actually relying on its dynamic /tf broadcast lifecycle, so switch them to PublishTF — the correctly-named Behavior with identical runtime behavior. No semantic change. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
shaur-k
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May 15, 2026
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@shaur-k This is the example_ws side of the PublishStaticFrame rename. Updates example_ws so that we don't get deprecation warnings.
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Companion PR to moveit_pro#19087, which adds
PublishTFand deprecatesPublishStaticFrame.What changed
All 20 invocations of
PublishStaticFrameacross 9 example objectives are renamed toPublishTF. Both the in-tree<Action>references and the trailing<TreeNodesModel>declarations are updated.src/dual_arm_sim/objectives/draw.xmlsrc/grinding_sim/objectives/grind_machined_part.xmlsrc/grinding_sim/objectives/visualize_poses.xmlsrc/hangar_sim/objectives/cartesian_draw_geometry_from_file.xmlsrc/hangar_sim/objectives/solution_draw_picknik.xmlsrc/kitchen_sim/objectives/write_text.xmlsrc/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xmlsrc/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xmlsrc/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xmlWhy
PublishStaticFramewas misnamed — it always published a dynamic transform on/tfvia a 50 Hz timer, never on/tf_static. Every objective in this workspace was already using it that way (wrapped inParallelorKeepRunningUntilFailureand depending on theRUNNING-until-halted contract). The runtime behavior ofPublishTFis identical to today'sPublishStaticFrame; this is a pure rename.Coordination
PublishTFis published — otherwise loading these objectives will fail with "unknown behaviorPublishTF".PublishStaticFrameworking until removed, so the order is flexible: it is safe to delay this rename without breaking anything.🤖 Generated with Claude Code