Add hrp2 and walls calls in launches, and add static_transform_publisher nodes for new frames
Revert "Add hrp2 and walls calls in launches, and add static_transform_publisher nodes for new frames"

This reverts commit c41d99f60a4d832d941e55c87e174404a5d0cde8.
Add hrp2 and walls calls in launches, and add static_transform_publisher nodes for new frames