From 40626afccfea662739d7b198c35f2ef1c63d6cdc Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Thu, 14 May 2026 17:49:56 +0200
Subject: [PATCH] chore(objectives): migrate PublishStaticFrame to PublishTF
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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>
---
 src/dual_arm_sim/objectives/draw.xml               |  2 +-
 .../objectives/grind_machined_part.xml             |  2 +-
 src/grinding_sim/objectives/visualize_poses.xml    |  2 +-
 .../cartesian_draw_geometry_from_file.xml          |  2 +-
 .../objectives/solution_draw_picknik.xml           |  2 +-
 src/kitchen_sim/objectives/write_text.xml          |  2 +-
 .../objectives/april_tag_object_registration.xml   | 14 +++++++-------
 .../objectives/compliant_grasp_rafti_vfc.xml       | 12 ++++++------
 .../kinova_sim/objectives/write_picknik.xml        |  2 +-
 9 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/src/dual_arm_sim/objectives/draw.xml b/src/dual_arm_sim/objectives/draw.xml
index 86f227514..34110d0f8 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 0a3dbc3e3..e0bd8fec0 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 02d707577..2ed7aafe1 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 1c3d84677..6e6794f2d 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 f77242342..78194bd5e 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 3d071d37f..c8ef63947 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 1e3fedfbb..7950bfa9d 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 c2503638a..f97e1ce18 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 64bdb6f54..b62975198 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"