diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index 0788dab..9c3c0d2 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -58,6 +58,9 @@ DEFINE_string(bag_filename, "", "Bag to process.");
 DEFINE_string(
     trajectory_filename, "",
     "Proto containing the trajectory written by /finish_trajectory service.");
+DEFINE_bool(
+    use_bag_transforms, true,
+    "Whether to read and use the transforms from the bag.");
 
 namespace cartographer_ros {
 namespace {
@@ -150,12 +153,16 @@ void Run(const string& trajectory_filename, const string& bag_filename,
       builder.CreatePipeline(
           lua_parameter_dictionary.GetDictionary("pipeline").get());
 
-  auto tf_buffer = ::cartographer::common::make_unique<tf2_ros::Buffer>();
+  auto tf_buffer =
+      ::cartographer::common::make_unique<tf2_ros::Buffer>(::ros::DURATION_MAX);
+
+  if (FLAGS_use_bag_transforms) {
+    LOG(INFO) << "Pre-loading transforms from bag...";
+    ReadTransformsFromBag(bag_filename, tf_buffer.get());
+  }
+
   if (!urdf_filename.empty()) {
     ReadStaticTransformsFromUrdf(urdf_filename, tf_buffer.get());
-  } else {
-    LOG(INFO) << "Pre-loading transforms from bag...";
-    tf_buffer = ReadTransformsFromBag(bag_filename);
   }
 
   const string tracking_frame =
diff --git a/cartographer_ros/cartographer_ros/bag_reader.cc b/cartographer_ros/cartographer_ros/bag_reader.cc
index 9097c3a..e3c7b7e 100644
--- a/cartographer_ros/cartographer_ros/bag_reader.cc
+++ b/cartographer_ros/cartographer_ros/bag_reader.cc
@@ -29,14 +29,12 @@ namespace cartographer_ros {
 
 constexpr char kTfStaticTopic[] = "/tf_static";
 
-std::unique_ptr<tf2_ros::Buffer> ReadTransformsFromBag(
-    const string& bag_filename) {
+void ReadTransformsFromBag(
+    const string& bag_filename, tf2_ros::Buffer* const tf_buffer) {
   rosbag::Bag bag;
   bag.open(bag_filename, rosbag::bagmode::Read);
   rosbag::View view(bag);
 
-  auto tf_buffer =
-      ::cartographer::common::make_unique<tf2_ros::Buffer>(::ros::DURATION_MAX);
   const ::ros::Time begin_time = view.getBeginTime();
   const double duration_in_seconds = (view.getEndTime() - begin_time).toSec();
   for (const rosbag::MessageInstance& msg : view) {
@@ -58,7 +56,6 @@ std::unique_ptr<tf2_ros::Buffer> ReadTransformsFromBag(
   }
 
   bag.close();
-  return tf_buffer;
 }
 
 }  // namespace cartographer_ros
diff --git a/cartographer_ros/cartographer_ros/bag_reader.h b/cartographer_ros/cartographer_ros/bag_reader.h
index 7cf9854..48964ee 100644
--- a/cartographer_ros/cartographer_ros/bag_reader.h
+++ b/cartographer_ros/cartographer_ros/bag_reader.h
@@ -22,8 +22,8 @@
 
 namespace cartographer_ros {
 
-std::unique_ptr<tf2_ros::Buffer> ReadTransformsFromBag(
-    const string& bag_filename);
+void ReadTransformsFromBag(
+    const string& bag_filename, tf2_ros::Buffer* const tf_buffer);
 
 }  // namespace cartographer_ros
 
diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
index 349e73f..c30b136 100644
--- a/cartographer_ros/cartographer_ros/offline_node_main.cc
+++ b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -33,6 +33,7 @@
 #include "rosbag/view.h"
 #include "rosgraph_msgs/Clock.h"
 #include "tf2_msgs/TFMessage.h"
+#include "tf2_ros/static_transform_broadcaster.h"
 #include "urdf/model.h"
 
 DEFINE_string(configuration_directory, "",
@@ -46,12 +47,16 @@ DEFINE_string(bag_filenames, "", "Comma-separated list of bags to process.");
 DEFINE_string(
     urdf_filename, "",
     "URDF file that contains static links for your sensor configuration.");
+DEFINE_bool(
+    use_bag_transforms, true,
+    "Whether to read, use and republish the transforms from the bag.");
 
 namespace cartographer_ros {
 namespace {
 
 constexpr int kLatestOnlyPublisherQueueSize = 1;
 constexpr char kClockTopic[] = "clock";
+constexpr char kTfTopic [] = "tf";
 
 volatile std::sig_atomic_t sigint_triggered = 0;
 
@@ -82,15 +87,22 @@ NodeOptions LoadOptions() {
 void Run(const std::vector<string>& bag_filenames) {
   auto options = LoadOptions();
 
-  auto tf_buffer = ::cartographer::common::make_unique<tf2_ros::Buffer>();
-  if (!FLAGS_urdf_filename.empty()) {
-    ReadStaticTransformsFromUrdf(FLAGS_urdf_filename, tf_buffer.get());
-  } else {
+  auto tf_buffer =
+      ::cartographer::common::make_unique<tf2_ros::Buffer>(::ros::DURATION_MAX);
+
+  if (FLAGS_use_bag_transforms) {
     LOG(INFO) << "Pre-loading transforms from bag...";
     // TODO(damonkohler): Support multi-trajectory.
     CHECK_EQ(bag_filenames.size(), 1);
-    tf_buffer = ReadTransformsFromBag(bag_filenames.back());
+    ReadTransformsFromBag(bag_filenames.back(), tf_buffer.get());
   }
+
+  std::vector<geometry_msgs::TransformStamped> urdf_transforms;
+  if (!FLAGS_urdf_filename.empty()) {
+    urdf_transforms =
+        ReadStaticTransformsFromUrdf(FLAGS_urdf_filename, tf_buffer.get());
+  }
+
   tf_buffer->setUsingDedicatedThread(true);
 
   // Since we preload the transform buffer, we should never have to wait for a
@@ -139,10 +151,20 @@ void Run(const std::vector<string>& bag_filenames) {
     check_insert(kOdometryTopic);
   }
 
+  ::ros::Publisher tf_publisher =
+      node.node_handle()->advertise<tf2_msgs::TFMessage>(
+          kTfTopic, kLatestOnlyPublisherQueueSize);
+
+  ::tf2_ros::StaticTransformBroadcaster static_tf_broadcaster;
+
   ::ros::Publisher clock_publisher =
       node.node_handle()->advertise<rosgraph_msgs::Clock>(
           kClockTopic, kLatestOnlyPublisherQueueSize);
 
+  if (urdf_transforms.size() > 0) {
+    static_tf_broadcaster.sendTransform(urdf_transforms);
+  }
+
   for (const string& bag_filename : bag_filenames) {
     if (sigint_triggered) {
       break;
@@ -162,7 +184,11 @@ void Run(const std::vector<string>& bag_filenames) {
         break;
       }
 
-      // TODO(damonkohler): Republish non-conflicting tf messages.
+      if (FLAGS_use_bag_transforms && msg.isType<tf2_msgs::TFMessage>()) {
+        auto tf_message = msg.instantiate<tf2_msgs::TFMessage>();
+        tf_publisher.publish(tf_message);
+      }
+
       const string topic =
           node.node_handle()->resolveName(msg.getTopic(), false /* resolve */);
       if (expected_sensor_ids.count(topic) == 0) {
diff --git a/cartographer_ros/cartographer_ros/urdf_reader.cc b/cartographer_ros/cartographer_ros/urdf_reader.cc
index 07ab385..7acf30d 100644
--- a/cartographer_ros/cartographer_ros/urdf_reader.cc
+++ b/cartographer_ros/cartographer_ros/urdf_reader.cc
@@ -24,8 +24,8 @@
 
 namespace cartographer_ros {
 
-void ReadStaticTransformsFromUrdf(const string& urdf_filename,
-                                  tf2_ros::Buffer* const buffer) {
+std::vector<geometry_msgs::TransformStamped> ReadStaticTransformsFromUrdf(
+    const string& urdf_filename, tf2_ros::Buffer* const tf_buffer) {
   urdf::Model model;
   CHECK(model.initFile(urdf_filename));
 #if URDFDOM_HEADERS_HAS_SHARED_PTR_DEFS
@@ -34,6 +34,7 @@ void ReadStaticTransformsFromUrdf(const string& urdf_filename,
   std::vector<boost::shared_ptr<urdf::Link> > links;
 #endif
   model.getLinks(links);
+  std::vector<geometry_msgs::TransformStamped> transforms;
   for (const auto& link : links) {
     if (!link->getParent() || link->parent_joint->type != urdf::Joint::FIXED) {
       continue;
@@ -49,8 +50,10 @@ void ReadStaticTransformsFromUrdf(const string& urdf_filename,
                                pose.rotation.y, pose.rotation.z)));
     transform.child_frame_id = link->name;
     transform.header.frame_id = link->getParent()->name;
-    buffer->setTransform(transform, "urdf", true /* is_static */);
+    tf_buffer->setTransform(transform, "urdf", true /* is_static */);
+    transforms.push_back(transform);
   }
+  return transforms;
 }
 
 }  // namespace cartographer_ros
diff --git a/cartographer_ros/cartographer_ros/urdf_reader.h b/cartographer_ros/cartographer_ros/urdf_reader.h
index 0642870..7156137 100644
--- a/cartographer_ros/cartographer_ros/urdf_reader.h
+++ b/cartographer_ros/cartographer_ros/urdf_reader.h
@@ -19,11 +19,12 @@
 
 #include "cartographer/common/port.h"
 #include "tf2_ros/buffer.h"
+#include <vector>
 
 namespace cartographer_ros {
 
-void ReadStaticTransformsFromUrdf(const string& urdf_filename,
-                                  tf2_ros::Buffer* buffer);
+std::vector<geometry_msgs::TransformStamped> ReadStaticTransformsFromUrdf(
+  const string& urdf_filename, tf2_ros::Buffer* tf_buffer);
 
 }  // namespace cartographer_ros