Patch for Ros bridge

rospatch.patch

diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index 6a77453..0057229 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -367,8 +367,9 @@ class CarlaRosBridge(object):
         elif carla_actor.type_id.startswith("sensor"):
             if carla_actor.type_id.startswith("sensor.camera"):
                 if carla_actor.type_id.startswith("sensor.camera.rgb"):
+                    if carla_actor.attributes["role_name"] == "noros": return None
                     actor = RgbCamera(
-                        carla_actor, parent, self.comm, self.carla_settings.synchronous_mode)
+                            carla_actor, parent, self.comm, self.carla_settings.synchronous_mode)
                 elif carla_actor.type_id.startswith("sensor.camera.depth"):
                     actor = DepthCamera(
                         carla_actor, parent, self.comm, self.carla_settings.synchronous_mode)
diff --git a/carla_ros_bridge/src/carla_ros_bridge/sensor.py b/carla_ros_bridge/src/carla_ros_bridge/sensor.py
index 63270cc..ae754c8 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/sensor.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/sensor.py
@@ -99,7 +99,13 @@ class Sensor(Actor):
                         float(self.sensor_tick_time)
                 self.queue.put(carla_sensor_data)
             else:
-                self.publish_transform(self.get_ros_sensor_transform(carla_sensor_data.transform))
+                # Dont publish transform camera data
+                transform = self.get_ros_sensor_transform(carla_sensor_data.transform)
+                if "camera" not in transform.child_frame_id:
+                    self.publish_transform(transform)
+
+                #self.publish_transform(self.get_ros_sensor_transform(carla_sensor_data.transform))
+
                 self.sensor_data_updated(carla_sensor_data)
 
     @abstractmethod