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What you can do is mapping the tf to something like tf_ignore, which detaches it from tf completely. Then use the topic only: The pose can then be published as tf transformation with an additional node like this: https://github.com/ct2034/cob_navigation_tests/blob/hydro_dev/nav_ground_truth_publisher/src/tf_pub.py

This makes it all a bit more flexible and transparent but also less performant.