Fix: /tf and /static_tf topics' inconsistencies

realsense2_camera/src/base_realsense_node.cpp

@@ -984,12 +984,17 @@ void BaseRealSenseNode::publishStaticTransforms(std::vector<rs2::stream_profile>
 
 void BaseRealSenseNode::startDynamicTf()
 {
+    if (!_publish_tf)
+    {
+        ROS_WARN("Since the param 'publish_tf' is set to 'false',"
+                "the value set on the param 'tf_publish_rate' won't have any effect");
+        return;
+    }
     if (_tf_publish_rate > 0)
     {
         ROS_WARN("Publishing dynamic camera transforms (/tf) at %g Hz", _tf_publish_rate);
         if (!_tf_t)
         {
-            _dynamic_tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(_node);
             _tf_t = std::make_shared<std::thread>([this]()
             {
                 publishDynamicTransforms();
@@ -1003,12 +1008,22 @@ void BaseRealSenseNode::startDynamicTf()
             _tf_t->join();
             _tf_t.reset();
             _dynamic_tf_broadcaster.reset();
+            ROS_WARN("Stopped publishing dynamic camera transforms (/tf)");
+        }
+        else
+        {
+            ROS_WARN("Currently not publishing dynamic camera transforms (/tf)");
         }
     }
 }
 
 void BaseRealSenseNode::publishDynamicTransforms()
 {
+    if (!_dynamic_tf_broadcaster)
+    {
+        _dynamic_tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(_node);
+    }
+
     // Publish transforms for the cameras
     std::unique_lock<std::mutex> lock(_publish_dynamic_tf_mutex);
     while (rclcpp::ok() && _is_running && _tf_publish_rate > 0)

realsense2_camera/src/parameters.cpp

@@ -37,7 +37,6 @@ void BaseRealSenseNode::getParameters()
                 startDynamicTf();
             });
     _parameters_names.push_back(param_name);
-    startDynamicTf();
 
     param_name = std::string("diagnostics_period");
     _diagnostics_period = _parameters->setParam<double>(param_name, DIAGNOSTICS_PERIOD);