code: def delete_from_ros(self, service_name='rigid_transforms/rigid_transform_publisher', namespace=None):
          
          if namespace == None:
              service_name = rospy.get_namespace() + service_name
          else:
              service_name = namespace + service_name
              
          rospy.wait_for_service(service_name, timeout = 10)
          publisher = rospy.ServiceProxy(service_name, RigidTransformPublisher)
          
          publisher(0, 0, 0, 0, 0, 0, 0, self.from_frame, self.to_frame, 'delete')
docs: Removes RigidTransform referencing from_frame and to_frame from ROS publisher.
          Note that this may not be this exact transform, but may that references the same frames (order doesn't matter)
          
          Also, note that it may take quite a while for the transform to disappear from rigid_transform_publisher's cache 
          
          Requires ROS rigid_transform_publisher service to be running. Assuming autolab_core is installed as a catkin package,
          this can be done with: roslaunch autolab_core rigid_transforms.launch
          
          Parameters
          ----------
          service_name : string, optional
              RigidTransformPublisher service to interface with. If the RigidTransformPublisher services are started through
              rigid_transforms.launch it will be called rigid_transform_publisher
          namespace : string, optional
              Namespace to prepend to transform_listener_service. If None, current namespace is prepended.
          
          Raises
          ------
          rospy.ServiceException
              If service call to rigid_transform_publisher fails