Unconnected tree in hector_slam ( How to kill the gazebo broadcaster node / Delete a frame from tf tree)

Hello, I am looking at the [hector_mapping](http://wiki.ros.org/hector_mapping) package of the hector_slam stack and I have an issue. If I visit this [page](http://wiki.ros.org/hector_mapping) at the bottom of the page I can see the required tf transforms for the node to run. Which is a tf from lidar frame -> base_link. I provide this transform fine to the node via the robot_state_publisher. I have the following launch file for the node: When I test the node in rviz, I get good map results. However, when I `rosrun tf view_frames` I see the following tree :  I ran `roswtf` and I get the following errors: Found 2 error(s). ERROR TF re-parenting contention: * reparenting of [base_footprint] to [map] by [/hector_mapping] * reparenting of [base_footprint] to [odom] by [/gazebo] ERROR TF multiple authority contention: * node [/hector_mapping] publishing transform [base_footprint] with parent [map] already published by node [/gazebo] * node [/gazebo] publishing transform [base_footprint] with parent [odom] already published by node [/hector_mapping] The cause of this is that the existence of 2 parents for the base_footprint frame, correctly? I have the following plugin in my urdf model as a gazebo element, which automatically broadcasts the connection odom -> base_footprint: DebugFalseTrueTrue100.0joint_r_wheeljoint_l_wheel0.220.16030/labrob/cmd_velbase_footprinttrue Whatever I try to change, the broadcasting from the gazebo node remains. **How is it possible to kill the gazebo broadcasting without killing the gazebo simulation or is it possible to delete a frame from the tree ?** P.S.: I don't want to use the odometric data for my robot, that's why I am not just setting the "odom" parameter as odom in the launch file of the hector_mapping node. Same problem will arise if I set to false the "pub_map_odom_transform" parameter and use the static broadcaster at the end of the launch file. I also have seen this [question](http://answers.ros.org/question/175013/removingdeletingignoring-odom-tf-data/) but I cannot find a solution with the two options provided, even though the person that asked the question made it work with option number 1.