diff --git a/hydra_ros/CMakeLists.txt b/hydra_ros/CMakeLists.txt
index 0c5b70d..458f3bc 100644
--- a/hydra_ros/CMakeLists.txt
+++ b/hydra_ros/CMakeLists.txt
@@ -114,8 +114,7 @@ install(
 )
 install(TARGETS hydra_ros_node RUNTIME DESTINATION lib/${PROJECT_NAME})
 install(
-  PROGRAMS app/csv_to_tf
-           app/dsg_file_publisher
+  PROGRAMS app/dsg_file_publisher
            app/dsg_republisher
            app/odom_to_tf
            app/noisy_tf_publisher
diff --git a/hydra_ros/app/csv_to_tf b/hydra_ros/app/csv_to_tf
deleted file mode 100755
index 6f8954a..0000000
--- a/hydra_ros/app/csv_to_tf
+++ /dev/null
@@ -1,150 +0,0 @@
-#!/usr/bin/env python3
-"""Node that broadcasts a CSV as a tf."""
-
-import pathlib
-import sys
-
-import geometry_msgs.msg
-import rclpy
-import rclpy.node
-import rclpy.utilities
-import tf2_ros
-
-DEFAULT_ORDER = ["x", "y", "z", "qw", "qx", "qy", "qz"]
-
-
-def _parse_file(trajectory_file, parent, child, skip_first=True, order=None):
-    if order is None:
-        order = DEFAULT_ORDER
-
-    transforms = []
-    have_first_line = False
-    with open(trajectory_file, "r") as fin:
-        for line in fin:
-            if not have_first_line:
-                have_first_line = True
-                if skip_first:
-                    continue
-
-            values = [x.strip() for x in line.split(",")]
-            time_ns = int(values[0])
-            pose = [float(x) for x in values[1:]]
-
-            t = geometry_msgs.msg.TransformStamped()
-            t.header.stamp = rclpy.time.Time(nanoseconds=time_ns).to_msg()
-            t.header.frame_id = parent
-            t.child_frame_id = child
-            t.transform.translation.x = pose[0]
-            t.transform.translation.y = pose[1]
-            t.transform.translation.z = pose[2]
-            t.transform.rotation.w = pose[3]
-            t.transform.rotation.x = pose[4]
-            t.transform.rotation.y = pose[5]
-            t.transform.rotation.z = pose[6]
-            transforms.append(t)
-
-    return transforms
-
-
-class CsvToTf(rclpy.node.Node):
-    def __init__(self):
-        super().__init__("csv_to_tf")
-        self._broadcaster = tf2_ros.TransformBroadcaster(self)
-
-        offset_s = self._get_param("offset_s", 0.0).double_value
-        self._offset = rclpy.duration.Duration(seconds=offset_s)
-        stale_threshold_s = self._get_param("stale_threshold_s", 0.5).double_value
-        self._stale_threshold = rclpy.duration.Duration(seconds=stale_threshold_s)
-        lookahead_s = self._get_param("lookahead_s", 0.1).double_value
-        self._lookahead = rclpy.duration.Duration(seconds=lookahead_s)
-        self.get_logger().info(
-            f"offset: {self._offset}, lookahead: {self._lookahead}, stale: {self._stale_threshold}"
-        )
-
-        trajectory_file = self._get_param("trajectory_file", "").string_value
-        if trajectory_file == "":
-            self.get_logger().fatal("File required!")
-            sys.exit(1)
-
-        trajectory_file = pathlib.Path(trajectory_file).expanduser().absolute()
-        if not trajectory_file.exists():
-            self.get_logger().fatal(
-                f"Trajectory file {trajectory_file} does not exist!"
-            )
-            sys.exit(1)
-
-        parent_frame = self._get_param("parent_frame", "odom").string_value
-        child_frame = self._get_param("child_frame", "base_link").string_value
-        self._transforms = _parse_file(trajectory_file, parent_frame, child_frame)
-        self._idx = 0
-        self.get_logger().info(f"Publishing {parent_frame}_T_{child_frame}")
-
-        poll_period_s = self._get_param("poll_period_s", 0.01).double_value
-        self._timer = self.create_timer(poll_period_s, self._callback)
-
-    def _get_param(self, name, default=None):
-        return self.declare_parameter(name, default).get_parameter_value()
-
-    def _curr_tf_is_stale(self, ros_stamp):
-        # we want to reject any transforms that are more than stale_threshold_s than the current stamp
-        curr_stamp = self._get_curr_tf_stamp()
-        if curr_stamp is None:
-            return False
-
-        return ros_stamp - curr_stamp > self._stale_threshold
-
-    def _get_curr_tf_stamp(self):
-        if self._idx >= len(self._transforms):
-            return None
-
-        stamp = rclpy.time.Time.from_msg(self._transforms[self._idx].header.stamp)
-        return stamp + self._offset
-
-    def _callback(self):
-        stamp = self.get_clock().now()
-
-        prev_idx = self._idx
-        while self._curr_tf_is_stale(stamp):
-            self._idx += 1
-
-        num_dropped = self._idx - prev_idx
-        if num_dropped > 0:
-            self.get_logger().warn(
-                f"Dropped {num_dropped} TFs older than {stamp.nanoseconds} [ns]"
-            )
-
-        if self._idx >= len(self._transforms):
-            self.get_logger().info("Finished publishing transforms")
-            self._timer.cancel()
-            return
-
-        next_stamp = self._get_curr_tf_stamp()
-        diff_str = f"diff: {(next_stamp - stamp).nanoseconds} [ns]"
-        self.get_logger().debug(
-            f"waiting for time {next_stamp.nanoseconds} [ns] ({diff_str})"
-        )
-        # if the next TF timestamp is ahead of the current ROS time by more than the lookahead,
-        # don't publish anything
-        if next_stamp - stamp > self._lookahead:
-            return
-
-        self.get_logger().debug(f"sending {next_stamp.nanoseconds} [ns]")
-        msg = self._transforms[self._idx]
-        msg.header.stamp = next_stamp.to_msg()  # reset header stamp
-        self._broadcaster.sendTransform(msg)
-        self._idx += 1
-
-
-def main(args=None):
-    """Do stuff."""
-    rclpy.init(args=args)
-    try:
-        node = CsvToTf()
-        rclpy.spin(node)
-        node.destroy_node()
-    finally:
-        rclpy.utilities.try_shutdown()
-
-
-if __name__ == "__main__":
-    main()