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IntelLabs · Mar 5, 2024 · c14f8ad · c14f8ad
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diff --git a/docs/architecture.rst b/docs/architecture.rst
@@ -60,7 +60,6 @@ Modules
 - ``scenario_execution_gazebo``: Provides a `Gazebo <https://gazebosim.org/>`_-specific OpenSCENARIO 2 library with actions.
 - ``scenario_execution_interfaces``: Provides ROS2 `interfaces <https://docs.ros.org/en/rolling/Concepts/Basic/About-Interfaces.html>`__, more specifically, messages and services, which are used to interface ROS2 with the ``scenario_execution_control`` package.
 - ``scenario_execution_rviz``: Contains several `rviz <https://github.com/ros2/rviz>`__ plugins for visualizing and controlling scenarios when working with ROS2.
-- ``simulation/gazebo_tf_publisher``: Publish ground truth transforms from simulation within TF.
 - ``simulation/tb4_sim_scenario``: Run `Turtlebot4 <https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html>`_ within simulation, controlled by scenario execution.
 - ``tools/message_modification``: ROS2 nodes to modify messages.
 - ``tools/scenario_status``: Publish the current scenario status on a topic (e.g. to be capture within a ROS bag).
diff --git a/examples/example_simulation/package.xml b/examples/example_simulation/package.xml
@@ -10,7 +10,6 @@
 
   <depend>scenario_execution</depend>
   <depend>scenario_execution_gazebo</depend>
-  <depend>gazebo_tf_publisher</depend>
   <depend>tb4_sim_scenario</depend>
 
   <exec_depend>rclpy</exec_depend>

diff --git a/scenario_execution_rviz/CMakeLists.txt b/scenario_execution_rviz/CMakeLists.txt
@@ -21,8 +21,7 @@ find_package(Qt5 REQUIRED Core Widgets)
 set(QT_LIBRARIES Qt5::Widgets)
 
 set(SRC_FILES src/indicator_widget.cpp
-              src/control_panel.cpp
-              src/tree_view.cpp)
+              src/control_panel.cpp)
 
 qt5_add_resources(SRC_FILES scenario_execution_rviz.qrc)
 

diff --git a/scenario_execution_rviz/README.md b/scenario_execution_rviz/README.md
@@ -1,18 +1,3 @@
 # Scenario Execution Rviz
 
 The `scenario_execution_rviz` package provides [rviz](https://github.com/ros2/rviz) plugins for visualizing and controlling the scenario when working with [ROS 2](https://docs.ros.org/en/rolling/index.html).
-
-## Treeview Panel
-
-The Treeview panel shows the behavior tree of the running scenario. The panel is accessible under Panels :arrow_right: Add new panel :arrow_right: scenario_execution_rviz :arrow_right: TreeView.
-
-![tree_example.png](../docs/images/tree_example.png)
-
-### Known Issues
-
-The Treeview panel can not display the behavior tree if initialized while the robot navigation is already running.
-
-### Icon Licence
-
-The MIT License (MIT)
-Copyright © 2019-2020 css.gg
diff --git a/scenario_execution_rviz/plugin_description.xml b/scenario_execution_rviz/plugin_description.xml
@@ -6,11 +6,4 @@
       A panel widget for controlling scenario execution
     </description>
   </class>
-  <class name="scenario_execution_rviz/Tree View"
-         type="scenario_execution_rviz::TreeView"
-         base_class_type="rviz_common::Panel">
-    <description>
-      A panel widget for visualizing state of scenario execution
-    </description>
-  </class>
 </library>
diff --git a/scenario_execution_rviz/src/tree_view.cpp b/scenario_execution_rviz/src/tree_view.cpp