From b9ad9bb4b8d865da05df0e085209eabb4910d2be Mon Sep 17 00:00:00 2001
From: Holger Rapp <HolgerRapp@gmx.net>
Date: Fri, 19 May 2017 12:16:14 +0200
Subject: [PATCH] Remove unnecessary if. (#347)

---
 .../cartographer_ros/offline_node_main.cc          | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
index 22be323..12e933a 100644
--- a/cartographer_ros/cartographer_ros/offline_node_main.cc
+++ b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -183,14 +183,12 @@ void Run(const std::vector<string>& bag_filenames) {
         auto tf_message = msg.instantiate<tf2_msgs::TFMessage>();
         tf_publisher.publish(tf_message);
 
-        if (FLAGS_use_bag_transforms) {
-          for (const auto& transform : tf_message->transforms) {
-            try {
-              tf_buffer.setTransform(transform, "unused_authority",
-                                      msg.getTopic() == kTfStaticTopic);
-            } catch (const tf2::TransformException& ex) {
-              LOG(WARNING) << ex.what();
-            }
+        for (const auto& transform : tf_message->transforms) {
+          try {
+            tf_buffer.setTransform(transform, "unused_authority",
+                                   msg.getTopic() == kTfStaticTopic);
+          } catch (const tf2::TransformException& ex) {
+            LOG(WARNING) << ex.what();
           }
         }
       }