diff --git a/rtabmap_util/CMakeLists.txt b/rtabmap_util/CMakeLists.txt
index bb408646..5a17b988 100644
--- a/rtabmap_util/CMakeLists.txt
+++ b/rtabmap_util/CMakeLists.txt
@@ -131,6 +131,7 @@ catkin_install_python(PROGRAMS
   scripts/yaml_to_camera_info.py
   scripts/netvlad_tf_ros.py
   scripts/gazebo_ground_truth.py
+  scripts/republish_tf_static.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/rtabmap_util/scripts/republish_tf_static.py b/rtabmap_util/scripts/republish_tf_static.py
new file mode 100755
index 00000000..13874cae
--- /dev/null
+++ b/rtabmap_util/scripts/republish_tf_static.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+import rospy
+from tf2_msgs.msg import TFMessage
+        
+msg=TFMessage()
+        
+def callback(data):
+    global msg
+    if len(msg.transforms) == 0:
+        msg = data
+    else:
+        msg.transforms = msg.transforms+ data.transforms
+    rospy.loginfo("Received /tf_static_old and republising latched /tf_static")
+    pub.publish(msg)
+
+if __name__ == '__main__':
+    rospy.init_node('listener', anonymous=True)
+    rospy.Subscriber("tf_static_old", TFMessage, callback)
+    pub = rospy.Publisher('tf_static', TFMessage, queue_size=10, latch=True)
+    rospy.spin()