diff --git a/src/adc_landmarks_slam_solver_alg_node.cpp b/src/adc_landmarks_slam_solver_alg_node.cpp
index 0e9420f80ad455211085938898ea9678ebb97ad3..391181bb12c3d219b943e74d8d71e89202a58b57 100644
--- a/src/adc_landmarks_slam_solver_alg_node.cpp
+++ b/src/adc_landmarks_slam_solver_alg_node.cpp
@@ -463,51 +463,6 @@ void AdcLandmarksSlamSolverAlgNode::mainNodeThread(void)
   // Initialize the topic message structure
   //this->landmarks_localization_pose_PoseWithCovarianceStamped_msg_.data = my_var;
 
-  
-  /*
-  //tf2_listener example BEGIN
-  try{
-    std::string target_frame             = "child_frame";
-    std::string source_frame             = "parent_frame";
-    ros::Time time                       = ros::Time::now();
-    ros::Duration timeout                = ros::Duration(0.1);
-    this->alg_.unlock();
-    bool tf2_exists = this->tf2_buffer.canTransform(target_frame, source_frame, time, timeout);
-    this->alg_.lock();
-    if(tf2_exists){
-      geometry_msgs::PoseStamped stamped_pose_in;
-      stamped_pose_in.header.stamp     = time;
-      stamped_pose_in.header.frame_id  = source_frame;
-      stamped_pose_in.pose.position.x    = 1.0;
-      stamped_pose_in.pose.position.y    = 0.0;
-      stamped_pose_in.pose.position.z    = 0.0;
-      tf2::Quaternion quat_tf;
-      quat_tf.setRPY(0.0, 0.0, 1.5709);
-      geometry_msgs::Quaternion quat_msg;
-      tf2::convert(quat_tf, quat_msg);
-      stamped_pose_in.pose.orientation = quat_msg;
-      double yaw, pitch, roll;
-      tf2::Matrix3x3(tf2::Quaternion(quat_msg.x, quat_msg.y,quat_msg.z, quat_msg.w)).getEulerYPR(yaw, pitch, roll);
-      ROS_INFO("Original    pose in '%s' frame, with (x,y,z)=[%f,%f,%f], (yaw,pitch,roll)=[%f,%f,%f]", stamped_pose_in.header.frame_id.c_str(), stamped_pose_in.pose.position.x, stamped_pose_in.pose.position.y, stamped_pose_in.pose.position.z, yaw, pitch, roll);
-      geometry_msgs::PoseStamped stamped_pose_out;
-      geometry_msgs::TransformStamped transform;
-      transform = this->tf2_buffer.lookupTransform(target_frame, source_frame, time);
-      quat_msg = transform.transform.rotation;
-      tf2::Matrix3x3(tf2::Quaternion(quat_msg.x, quat_msg.y,quat_msg.z, quat_msg.w)).getEulerYPR(yaw, pitch, roll);
-      ROS_INFO("Found transform betwen frames (%s-->%s) with (x,y,z)=[%f,%f,%f], (yaw,pitch,roll)=[%f,%f,%f]", source_frame.c_str(), target_frame.c_str(), transform.transform.translation.x, transform.transform.translation.y, transform.transform.translation.z, yaw, pitch, roll);
-      tf2::doTransform(stamped_pose_in, stamped_pose_out, transform);
-      quat_msg = stamped_pose_out.pose.orientation;
-      tf2::Matrix3x3(tf2::Quaternion(quat_msg.x, quat_msg.y,quat_msg.z, quat_msg.w)).getEulerYPR(yaw, pitch, roll);
-      ROS_INFO("Transformed pose in '%s' frame, with (x,y,z)=[%f,%f,%f], (yaw,pitch,roll)=[%f,%f,%f]", stamped_pose_out.header.frame_id.c_str(), stamped_pose_out.pose.position.x, stamped_pose_out.pose.position.y, stamped_pose_out.pose.position.z, yaw, pitch, roll);
-      ROS_INFO("---");
-    }else{
-      ROS_WARN("No transform found from '%s' to '%s'", source_frame.c_str(), target_frame.c_str()); }
-  }catch (tf2::TransformException &ex){
-    ROS_ERROR("TF2 Exception: %s",ex.what()); }
-  //tf2_listener example END
-  */
-
-  
   // [fill srv structure and make request to the server]
   
   // [fill action structure and make request to the action server]
@@ -522,25 +477,6 @@ void AdcLandmarksSlamSolverAlgNode::mainNodeThread(void)
   // Uncomment the following line to publish the topic message
   //this->landmarks_localization_pose_publisher_.publish(this->landmarks_localization_pose_PoseWithCovarianceStamped_msg_);
 
-  
-  /*
-  //tf2_broadcaster example BEGIN
-  this->transform_msg.header.stamp    = ros::Time::now();
-  this->transform_msg.header.frame_id = "parent_frame";
-  this->transform_msg.child_frame_id  = "child_frame";
-  geometry_msgs::Transform t;
-  t.translation.x = 0.0;
-  t.translation.y = 0.0;
-  t.translation.z = 0.0;
-  tf2::Quaternion q;
-  q.setRPY(0.0, 0.0, 0.0);
-  t.rotation = tf2::toMsg(q);
-  this->transform_msg.transform = t;
-  this->tf2_broadcaster.sendTransform(this->transform_msg);
-  //tf2_broadcaster example END
-  */
-
-  
   // this->alg_.unlock();
   this->estimated_pose_mutex_exit();
   this->features_mutex_exit();