Publishing tf messages is not always handy. While testing with our robot publishing tf messages causes conflict in our localization system since the child parents frame ids are the same so I added tf topic as a param to enable/disable it like other topics. Knowing that removing the child and the parents frame ID's would disable the tf publisher but these frames are also used for publishing poses and odom messages so they cannot be removed in this case.
Publishing tf messages is not always handy. While testing with our robot publishing tf messages causes conflict in our localization system since the child parents frame ids are the same so I added tf topic as a param to enable/disable it like other topics. Knowing that removing the child and the parents frame ID's would disable the tf publisher but these frames are also used for publishing poses and odom messages so they cannot be removed in this case.