From 612216958be45241fd57e67a84acddd47e7ea3b1 Mon Sep 17 00:00:00 2001
From: sho yoshida <73815070+SSSyoshida@users.noreply.github.com>
Date: Mon, 8 Apr 2024 10:40:26 +0900
Subject: [PATCH] remove topic relay in e2e (#822)

---
 autoware_launch/launch/e2e_simulator.launch.xml | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 5e7cbe62b2..339f949477 100755
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -40,11 +40,6 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/awsim.rviz" description="rviz config"/>
 
-  <!-- XX1 Traffic Light frame_id relay for AWSIM-->
-  <arg name="traffic_light_original_id" default="camera6/camera_optical_link"/>
-  <arg name="traffic_light_topic_id" default="traffic_light_left_camera/camera_optical_link"/>
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="traffic_light_transform_publisher" args="--frame-id $(var traffic_light_original_id) --child-frame-id $(var traffic_light_topic_id)"/>
-
   <!-- dummy topic publisher (camera0 ~ camera6)-->
   <!-- temporary until AWSIM supports object recognition camera -->
   <arg name="camera0_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera0/camera_info sensor_msgs/msg/CameraInfo '{}'"/>