diff --git a/src/dual_arm_sim/objectives/draw.xml b/src/dual_arm_sim/objectives/draw.xml
index 86f22751..34110d0f 100644
--- a/src/dual_arm_sim/objectives/draw.xml
+++ b/src/dual_arm_sim/objectives/draw.xml
@@ -9,7 +9,7 @@
   >
     <Control ID="Parallel" failure_count="1" success_count="1">
       <Action
-        ID="PublishStaticFrame"
+        ID="PublishTF"
         pose="{center}"
         child_frame_id="local"
         publish_rate="50"
diff --git a/src/grinding_sim/objectives/grind_machined_part.xml b/src/grinding_sim/objectives/grind_machined_part.xml
index 8fdae4fa..29835f15 100644
--- a/src/grinding_sim/objectives/grind_machined_part.xml
+++ b/src/grinding_sim/objectives/grind_machined_part.xml
@@ -24,7 +24,7 @@
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="500">
           <Action
-            ID="PublishStaticFrame"
+            ID="PublishTF"
             pose="{registered_pose}"
             publish_rate="50"
             child_frame_id="registered_pose"
diff --git a/src/grinding_sim/objectives/visualize_poses.xml b/src/grinding_sim/objectives/visualize_poses.xml
index 02d70757..2ed7aafe 100644
--- a/src/grinding_sim/objectives/visualize_poses.xml
+++ b/src/grinding_sim/objectives/visualize_poses.xml
@@ -27,7 +27,7 @@
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="500">
           <Action
-            ID="PublishStaticFrame"
+            ID="PublishTF"
             pose="{registered_pose}"
             publish_rate="50"
             child_frame_id="registered_pose"
diff --git a/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml b/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
index 1c3d8467..6e6794f2 100644
--- a/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
+++ b/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
@@ -32,7 +32,7 @@
       />
       <Control ID="Parallel" failure_count="1" success_count="1">
         <Action
-          ID="PublishStaticFrame"
+          ID="PublishTF"
           child_frame_id="local"
           pose="{pose_stamped}"
           publish_rate="50"
diff --git a/src/hangar_sim/objectives/solution_draw_picknik.xml b/src/hangar_sim/objectives/solution_draw_picknik.xml
index f7724234..78194bd5 100644
--- a/src/hangar_sim/objectives/solution_draw_picknik.xml
+++ b/src/hangar_sim/objectives/solution_draw_picknik.xml
@@ -28,7 +28,7 @@
       />
       <Control ID="Parallel" failure_count="1" success_count="1">
         <Action
-          ID="PublishStaticFrame"
+          ID="PublishTF"
           child_frame_id="local"
           pose="{pose_stamped}"
           publish_rate="50"
diff --git a/src/kitchen_sim/objectives/write_text.xml b/src/kitchen_sim/objectives/write_text.xml
index 26fbbfc7..66daf994 100644
--- a/src/kitchen_sim/objectives/write_text.xml
+++ b/src/kitchen_sim/objectives/write_text.xml
@@ -9,7 +9,7 @@
   >
     <Control ID="Parallel" success_count="1" failure_count="1">
       <Action
-        ID="PublishStaticFrame"
+        ID="PublishTF"
         pose="{bottom_right_corner}"
         child_frame_id="local"
         publish_rate="50"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
index cc8b60d1..12a68bf1 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
@@ -30,7 +30,7 @@
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="1000">
           <Action
-            ID="PublishStaticFrame"
+            ID="PublishTF"
             pose="{tag_pose_world}"
             child_frame_id="tag_frame"
             publish_rate="5"
@@ -46,7 +46,7 @@
               output_pose="{object_pose_stamped_estimate}"
             />
             <Action
-              ID="PublishStaticFrame"
+              ID="PublishTF"
               pose="{object_pose_stamped_estimate}"
               child_frame_id="object_frame"
               publish_rate="5"
@@ -68,7 +68,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="1000">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
@@ -114,7 +114,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="100">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
@@ -136,7 +136,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="1000">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{model_world}"
                 child_frame_id="object_frame_new"
                 publish_rate="5"
@@ -166,7 +166,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="1000">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{hole_object}"
                 child_frame_id="object_hole"
                 publish_rate="5"
@@ -193,7 +193,7 @@
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="1000">
           <Action
-            ID="PublishStaticFrame"
+            ID="PublishTF"
             pose="{goal_pose}"
             child_frame_id="goal_pose"
             publish_rate="5"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
index c2503638..f97e1ce1 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
@@ -30,7 +30,7 @@
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="1000">
           <Action
-            ID="PublishStaticFrame"
+            ID="PublishTF"
             pose="{tag_pose_world}"
             child_frame_id="tag_frame"
             publish_rate="5"
@@ -46,7 +46,7 @@
               output_pose="{object_pose_stamped_estimate}"
             />
             <Action
-              ID="PublishStaticFrame"
+              ID="PublishTF"
               pose="{object_pose_stamped_estimate}"
               child_frame_id="object_frame"
               publish_rate="5"
@@ -68,7 +68,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="1000">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
@@ -114,7 +114,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="100">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
@@ -136,7 +136,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="1000">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{model_world}"
                 child_frame_id="object_frame_new"
                 publish_rate="5"
@@ -166,7 +166,7 @@
           <Control ID="Fallback">
             <Decorator ID="Timeout" msec="1000">
               <Action
-                ID="PublishStaticFrame"
+                ID="PublishTF"
                 pose="{hole_object}"
                 child_frame_id="object_hole"
                 publish_rate="5"
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
index 353cb946..a5a23d0d 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
@@ -18,7 +18,7 @@
       />
       <Control ID="Parallel" success_count="1" failure_count="1">
         <Action
-          ID="PublishStaticFrame"
+          ID="PublishTF"
           pose="{pose_stamped}"
           child_frame_id="local"
           publish_rate="50"