diff --git a/drake_ros_core/README.md b/drake_ros_core/README.md
index 06996983..457265ff 100644
--- a/drake_ros_core/README.md
+++ b/drake_ros_core/README.md
@@ -6,17 +6,17 @@ It is similar to this ROS1 prototype [`gizatt/drake_ros_systems`](https://github
 
 ## Building
 
-This package has been built and tested on Ubuntu Focal with ROS2 Rolling, using a Drake nightly from April 2021.
+This package has been built and tested on Ubuntu Focal with ROS2 Rolling, using a Drake nightly or any stable releases after 14 Jan 2022.
 It may work on other versions of ROS and Drake, but it hasn't been tested.
 
 To build it:
 
 1. [Install ROS Rolling](https://index.ros.org/doc/ros2/Installation/Rolling/)
 1. Source your ROS installation `. /opt/ros/rolling/setup.bash`
-1. [Download April-ish 2021 Drake binary](https://drake.mit.edu/from_binary.html)
-1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/python_bindings.html#inside-virtualenv).
-1. Activate the drake virtual environment
-1. Build it using Colcon, or using CMake directly
+1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
+1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
+1. Activate the drake virtual environment.
+1. Build it using Colcon, or using CMake directly.
     
     **Colcon**
     1. Make a workspace `mkdir -p ./ws/src`
diff --git a/drake_ros_core/package.xml b/drake_ros_core/package.xml
index ed563a94..5d1e3785 100644
--- a/drake_ros_core/package.xml
+++ b/drake_ros_core/package.xml
@@ -10,7 +10,6 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <depend>pybind11-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
   <depend>rosidl_runtime_c</depend>
diff --git a/drake_ros_core/src/python_bindings/module_drake_ros_core.cpp b/drake_ros_core/src/python_bindings/module_drake_ros_core.cpp
deleted file mode 100644
index db1fe294..00000000
--- a/drake_ros_core/src/python_bindings/module_drake_ros_core.cpp
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include <memory>
-#include <unordered_set>
-
-#include "py_serializer.hpp"
-#include "qos_type_caster.hpp"
-#include <drake/systems/framework/leaf_system.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-#include "drake_ros_core/drake_ros.hpp"
-#include "drake_ros_core/ros_interface_system.hpp"
-#include "drake_ros_core/ros_publisher_system.hpp"
-#include "drake_ros_core/ros_subscriber_system.hpp"
-
-namespace py = pybind11;
-
-using drake::systems::Diagram;
-using drake::systems::LeafSystem;
-using drake::systems::TriggerType;
-
-using drake_ros_core::DrakeRos;
-using drake_ros_core::DrakeRosInterface;
-using drake_ros_core::PySerializer;
-using drake_ros_core::RosInterfaceSystem;
-using drake_ros_core::RosPublisherSystem;
-using drake_ros_core::RosSubscriberSystem;
-using drake_ros_core::SerializerInterface;
-
-PYBIND11_MODULE(drake_ros_core, m) {
-  m.doc() = "Python wrapper for drake_ros_core";
-
-  py::module::import("pydrake.systems.framework");
-  py::module::import("pydrake.multibody.plant");
-
-  // Use std::shared_ptr holder so pybind11 doesn't try to delete interfaces
-  // returned from get_ros_interface
-  py::class_<DrakeRosInterface, std::shared_ptr<DrakeRosInterface>>(
-      m, "DrakeRosInterface");
-
-  py::class_<RosInterfaceSystem, LeafSystem<double>>(m, "RosInterfaceSystem")
-      .def(py::init([]() {
-        return std::make_unique<RosInterfaceSystem>(
-            std::make_unique<DrakeRos>());
-      }))
-      .def("get_ros_interface", &RosInterfaceSystem::get_ros_interface);
-
-  py::class_<RosPublisherSystem, LeafSystem<double>>(m, "RosPublisherSystem")
-      .def(py::init([](pybind11::object type, const char* topic_name,
-                       drake_ros_core::QoS qos,
-                       std::shared_ptr<DrakeRosInterface> ros_interface) {
-        std::unique_ptr<SerializerInterface> serializer =
-            std::make_unique<PySerializer>(type);
-        return std::make_unique<RosPublisherSystem>(
-            serializer, topic_name, qos, ros_interface,
-            std::unordered_set<TriggerType>{TriggerType::kPerStep,
-                                            TriggerType::kForced},
-            0.0);
-      }))
-      .def(py::init([](pybind11::object type, const char* topic_name,
-                       drake_ros_core::QoS qos,
-                       std::shared_ptr<DrakeRosInterface> ros_interface,
-                       std::unordered_set<TriggerType> publish_triggers,
-                       double publish_period) {
-        std::unique_ptr<SerializerInterface> serializer =
-            std::make_unique<PySerializer>(type);
-        return std::make_unique<RosPublisherSystem>(
-            serializer, topic_name, qos, ros_interface, publish_triggers,
-            publish_period);
-      }));
-
-  py::class_<RosSubscriberSystem, LeafSystem<double>>(m, "RosSubscriberSystem")
-      .def(py::init([](pybind11::object type, const char* topic_name,
-                       drake_ros_core::QoS qos,
-                       std::shared_ptr<DrakeRosInterface> ros_interface) {
-        std::unique_ptr<SerializerInterface> serializer =
-            std::make_unique<PySerializer>(type);
-        return std::make_unique<RosSubscriberSystem>(serializer, topic_name,
-                                                     qos, ros_interface);
-      }));
-}
diff --git a/drake_ros_core/src/python_bindings/py_serializer.hpp b/drake_ros_core/src/python_bindings/py_serializer.hpp
deleted file mode 100644
index ee71c471..00000000
--- a/drake_ros_core/src/python_bindings/py_serializer.hpp
+++ /dev/null
@@ -1,170 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef PYTHON_BINDINGS__PY_SERIALIZER_HPP_
-#define PYTHON_BINDINGS__PY_SERIALIZER_HPP_
-
-#include <memory>
-
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <rmw/rmw.h>
-
-#include "drake_ros_core/serializer_interface.hpp"
-
-namespace py = pybind11;
-
-namespace drake_ros_core {
-// Serialize/Deserialize Python ROS types to rclcpp::SerializedMessage
-class PySerializer : public SerializerInterface {
- public:
-  explicit PySerializer(py::object message_type) : message_type_(message_type) {
-    py::dict scope;
-    py::exec(
-        R"delim(
-def get_typesupport(msg_type, attribute_name):
-    metaclass = msg_type.__class__
-    if metaclass._TYPE_SUPPORT is None:
-        # Import typesupport if not done already
-        metaclass.__import_type_support__()
-    return getattr(metaclass, attribute_name)
-
-
-def make_abstract_value(some_type):
-    from pydrake.common.value import AbstractValue
-    return AbstractValue.Make(some_type())
-      )delim",
-        py::globals(), scope);
-
-    py_make_abstract_value_ = scope["make_abstract_value"];
-    py::object py_get_typesupport = scope["get_typesupport"];
-
-    // Get type support capsule and pointer
-    auto typesupport = py::cast<py::capsule>(
-        py_get_typesupport(message_type, "_TYPE_SUPPORT"));
-    // TODO(sloretz) use get_pointer() in py 2.6+
-    type_support_ = static_cast<decltype(type_support_)>(typesupport);
-
-    auto convert_from_py = py::cast<py::capsule>(
-        py_get_typesupport(message_type, "_CONVERT_FROM_PY"));
-    // TODO(sloretz) use get_pointer() in py 2.6+
-    convert_from_py_ = reinterpret_cast<decltype(convert_from_py_)>(
-        static_cast<void*>(convert_from_py));
-
-    auto convert_to_py = py::cast<py::capsule>(
-        py_get_typesupport(message_type, "_CONVERT_TO_PY"));
-    // TODO(sloretz) use get_pointer() in py 2.6+
-    convert_to_py_ = reinterpret_cast<decltype(convert_to_py_)>(
-        static_cast<void*>(convert_to_py));
-
-    auto create_ros_message = py::cast<py::capsule>(
-        py_get_typesupport(message_type, "_CREATE_ROS_MESSAGE"));
-    // TODO(sloretz) use get_pointer() in py 2.6+
-    create_ros_message_ = reinterpret_cast<decltype(create_ros_message_)>(
-        static_cast<void*>(create_ros_message));
-
-    auto destroy_ros_message = py::cast<py::capsule>(
-        py_get_typesupport(message_type, "_DESTROY_ROS_MESSAGE"));
-    // TODO(sloretz) use get_pointer() in py 2.6+
-    destroy_ros_message_ = reinterpret_cast<decltype(destroy_ros_message_)>(
-        static_cast<void*>(destroy_ros_message));
-  }
-
-  rclcpp::SerializedMessage serialize(
-      const drake::AbstractValue& abstract_value) const override {
-    // convert from inaccessible drake::pydrake::Object type
-    py::dict scope;
-    scope["av"] = &abstract_value;
-    py::object message = py::eval("av.Clone().get_mutable_value()", scope);
-
-    // Create  C ROS message
-    auto c_ros_message = std::unique_ptr<void, decltype(destroy_ros_message_)>(
-        create_ros_message_(), destroy_ros_message_);
-
-    // Convert the Python message to a C ROS message
-    if (!convert_from_py_(message.ptr(), c_ros_message.get())) {
-      throw std::runtime_error(
-          "Failed to convert Python message to C ROS message");
-    }
-
-    // Serialize the C message
-    rclcpp::SerializedMessage serialized_msg;
-    const auto ret =
-        rmw_serialize(c_ros_message.get(), type_support_,
-                      &serialized_msg.get_rcl_serialized_message());
-    if (ret != RMW_RET_OK) {
-      throw std::runtime_error("Failed to serialize C ROS message");
-    }
-    return serialized_msg;
-  }
-
-  bool deserialize(const rclcpp::SerializedMessage& serialized_message,
-                   drake::AbstractValue& abstract_value) const override {
-    // TODO(sloretz) it would be so much more convenient if I didn't have to
-    // care that the Python typesupport used the C type support internally.
-    // Why isn't this encapsulated in the python type support itself?
-
-    // Create a C type support version of the message
-    auto c_ros_message = std::unique_ptr<void, decltype(destroy_ros_message_)>(
-        create_ros_message_(), destroy_ros_message_);
-    if (nullptr == c_ros_message.get()) {
-      return false;
-    }
-
-    // Deserialize to C message type
-    const auto ret =
-        rmw_deserialize(&serialized_message.get_rcl_serialized_message(),
-                        type_support_, c_ros_message.get());
-
-    if (RMW_RET_OK != ret) {
-      return false;
-    }
-
-    // Convert C type to Python type
-    PyObject* pymessage = convert_to_py_(c_ros_message.get());
-    if (!pymessage) {
-      return false;
-    }
-
-    // Store the Python message in the AbstractValue
-    // convert to inaccessible drake::pydrake::Object type
-    py::dict scope;
-    scope["av"] = &abstract_value;
-    scope["message"] = pymessage;
-    py::exec("av.set_value(message)", scope);
-
-    return true;
-  }
-
-  std::unique_ptr<drake::AbstractValue> create_default_value() const override {
-    return py::cast<std::unique_ptr<drake::AbstractValue>>(
-        py_make_abstract_value_(message_type_));
-  }
-
-  const rosidl_message_type_support_t* get_type_support() const override {
-    return type_support_;
-  }
-
- private:
-  py::object message_type_;
-  rosidl_message_type_support_t* type_support_;
-
-  py::object py_make_abstract_value_;
-
-  bool (*convert_from_py_)(PyObject*, void*);
-  PyObject* (*convert_to_py_)(void*);
-  void* (*create_ros_message_)(void);
-  void (*destroy_ros_message_)(void*);
-};
-}  // namespace drake_ros_core
-#endif  // PYTHON_BINDINGS__PY_SERIALIZER_HPP_
diff --git a/drake_ros_core/src/python_bindings/qos_type_caster.hpp b/drake_ros_core/src/python_bindings/qos_type_caster.hpp
deleted file mode 100644
index 4bcc8973..00000000
--- a/drake_ros_core/src/python_bindings/qos_type_caster.hpp
+++ /dev/null
@@ -1,267 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef PYTHON_BINDINGS__QOS_TYPE_CASTER_HPP_
-#define PYTHON_BINDINGS__QOS_TYPE_CASTER_HPP_
-
-#include <memory>
-
-#include <pybind11/pybind11.h>
-#include <rclcpp/qos.hpp>
-
-namespace drake_ros_core {
-// Thin wrapper that adds default constructor
-class QoS : public rclcpp::QoS {
- public:
-  QoS() : rclcpp::QoS(1) {}
-};
-}  // namespace drake_ros_core
-
-namespace pybind11 {
-namespace detail {
-template <>
-struct type_caster<drake_ros_core::QoS> {
- public:
-  // declares local 'value' of type rclcpp::QoS
-  PYBIND11_TYPE_CASTER(drake_ros_core::QoS, _("rclpy.qos.QoSProfile"));
-
-  // Convert from Python rclpy.qos.QoSProfile to rclcpp::QoS
-  bool load(handle src, bool) {
-    /* Extract PyObject from handle */
-    PyObject* source = src.ptr();
-
-    // history                          : enum int
-    // depth                            : int
-    // reliability                      : enum int
-    // durability                       : enum int
-    // lifespan                         : rclpy.Duration
-    // deadline                         : rclpy.Duration
-    // liveliness                       : enum int
-    // liveliness_lease_duration        : rclpy.Duration
-    // avoid_ros_namespace_conventions  : bool
-
-    PyObject* py_history = nullptr;
-    PyObject* py_depth = nullptr;
-    PyObject* py_reliability = nullptr;
-    PyObject* py_durability = nullptr;
-    PyObject* py_lifespan = nullptr;
-    PyObject* py_lifespan_ns = nullptr;
-    PyObject* py_deadline = nullptr;
-    PyObject* py_deadline_ns = nullptr;
-    PyObject* py_liveliness = nullptr;
-    PyObject* py_liveliness_lease_duration = nullptr;
-    PyObject* py_liveliness_lease_duration_ns = nullptr;
-    PyObject* py_avoid_ros_namespace_conventions = nullptr;
-
-    // Clean up references when function exits.
-    std::unique_ptr<void, std::function<void(void*)>> scope_exit(
-        nullptr, [&](void*) {
-          Py_XDECREF(py_avoid_ros_namespace_conventions);
-          Py_XDECREF(py_liveliness_lease_duration_ns);
-          Py_XDECREF(py_liveliness_lease_duration);
-          Py_XDECREF(py_liveliness);
-          Py_XDECREF(py_deadline_ns);
-          Py_XDECREF(py_deadline);
-          Py_XDECREF(py_lifespan_ns);
-          Py_XDECREF(py_lifespan);
-          Py_XDECREF(py_durability);
-          Py_XDECREF(py_reliability);
-          Py_XDECREF(py_depth);
-          Py_XDECREF(py_history);
-        });
-
-    size_t history;
-    size_t depth;
-    size_t reliability;
-    size_t durability;
-    size_t lifespan_ns;
-    size_t deadline_ns;
-    size_t liveliness;
-    size_t liveliness_lease_duration_ns;
-    int avoid_ros_namespace_conventions;
-
-    // Get all the QoS Attributes
-    py_history = PyObject_GetAttrString(source, "history");
-    if (!py_history) {
-      return false;
-    }
-    py_depth = PyObject_GetAttrString(source, "depth");
-    if (!py_depth) {
-      return false;
-    }
-    py_reliability = PyObject_GetAttrString(source, "reliability");
-    if (!py_reliability) {
-      return false;
-    }
-    py_durability = PyObject_GetAttrString(source, "durability");
-    if (!py_durability) {
-      return false;
-    }
-    py_lifespan = PyObject_GetAttrString(source, "lifespan");
-    if (!py_lifespan) {
-      return false;
-    }
-    py_deadline = PyObject_GetAttrString(source, "deadline");
-    if (!py_deadline) {
-      return false;
-    }
-    py_liveliness = PyObject_GetAttrString(source, "liveliness");
-    if (!py_liveliness) {
-      return false;
-    }
-    py_liveliness_lease_duration =
-        PyObject_GetAttrString(source, "liveliness_lease_duration");
-    if (!py_liveliness_lease_duration) {
-      return false;
-    }
-    py_avoid_ros_namespace_conventions =
-        PyObject_GetAttrString(source, "avoid_ros_namespace_conventions");
-    if (!py_avoid_ros_namespace_conventions) {
-      return false;
-    }
-
-    // Do Type Conversions
-    // History and depth if history is keep_last
-    history = PyNumber_AsSsize_t(py_history, NULL);
-    switch (history) {
-      case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-        depth = PyNumber_AsSsize_t(py_depth, PyExc_OverflowError);
-        if (PyErr_Occurred()) {
-          return false;
-        }
-        value.keep_last(depth);
-        break;
-      case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      case RMW_QOS_POLICY_HISTORY_UNKNOWN:
-        value.history(static_cast<rmw_qos_history_policy_t>(history));
-        break;
-      default:
-        if (!PyErr_Occurred()) {
-          PyErr_Format(PyExc_ValueError, "Unsupported history policy %zu",
-                       history);
-        }
-        return false;
-    }
-
-    // Reliability
-    reliability = PyNumber_AsSsize_t(py_reliability, NULL);
-    switch (reliability) {
-      case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
-      case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
-      case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
-      case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
-        value.reliability(
-            static_cast<rmw_qos_reliability_policy_t>(reliability));
-        break;
-      default:
-        if (!PyErr_Occurred()) {
-          PyErr_Format(PyExc_ValueError, "Unsupported reliability policy %zu",
-                       reliability);
-        }
-        return false;
-    }
-
-    // Durability
-    durability = PyNumber_AsSsize_t(py_durability, NULL);
-    switch (durability) {
-      case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-      case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
-        value.durability(static_cast<rmw_qos_durability_policy_t>(durability));
-        break;
-      default:
-        if (!PyErr_Occurred()) {
-          PyErr_Format(PyExc_ValueError, "Unsupported durability policy %zu",
-                       durability);
-        }
-        return false;
-    }
-
-    // lifespan
-    py_lifespan_ns = PyObject_GetAttrString(py_lifespan, "nanoseconds");
-    if (!py_lifespan_ns) {
-      return false;
-    }
-    lifespan_ns = PyNumber_AsSsize_t(py_lifespan_ns, PyExc_OverflowError);
-    if (PyErr_Occurred()) {
-      return false;
-    }
-    value.lifespan(rclcpp::Duration::from_nanoseconds(lifespan_ns));
-
-    // deadline
-    py_deadline_ns = PyObject_GetAttrString(py_deadline, "nanoseconds");
-    if (!py_deadline_ns) {
-      return false;
-    }
-    deadline_ns = PyNumber_AsSsize_t(py_deadline_ns, PyExc_OverflowError);
-    if (PyErr_Occurred()) {
-      return false;
-    }
-    value.deadline(rclcpp::Duration::from_nanoseconds(deadline_ns));
-
-    // liveliness
-    liveliness = PyNumber_AsSsize_t(py_liveliness, NULL);
-    switch (liveliness) {
-      case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
-      case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
-      case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
-      case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
-        value.liveliness(static_cast<rmw_qos_liveliness_policy_t>(liveliness));
-        break;
-      default:
-        if (!PyErr_Occurred()) {
-          PyErr_Format(PyExc_ValueError, "Unsupported liveliness policy %zu",
-                       liveliness);
-        }
-        return false;
-    }
-
-    // liveliness_lease_duration
-    py_liveliness_lease_duration_ns =
-        PyObject_GetAttrString(py_liveliness_lease_duration, "nanoseconds");
-    if (!py_liveliness_lease_duration_ns) {
-      return false;
-    }
-    liveliness_lease_duration_ns = PyNumber_AsSsize_t(
-        py_liveliness_lease_duration_ns, PyExc_OverflowError);
-    if (PyErr_Occurred()) {
-      return false;
-    }
-    value.liveliness_lease_duration(
-        rclcpp::Duration::from_nanoseconds(liveliness_lease_duration_ns));
-
-    // avoid_ros_namespace_conventions
-    avoid_ros_namespace_conventions =
-        PyObject_IsTrue(py_avoid_ros_namespace_conventions);
-    if (-1 == avoid_ros_namespace_conventions) {
-      return false;
-    }
-    value.avoid_ros_namespace_conventions(avoid_ros_namespace_conventions);
-
-    return true;
-  }
-
-  // Convert from Python rclcpp::QoS to rclpy.qos.QoSProfile
-  static handle cast(drake_ros_core::QoS src, return_value_policy policy,
-                     handle parent) {
-    (void)src;
-    (void)policy;
-    (void)parent;
-    Py_RETURN_NOTIMPLEMENTED;
-  }
-};
-}  // namespace detail
-}  // namespace pybind11
-#endif  // PYTHON_BINDINGS__QOS_TYPE_CASTER_HPP_
diff --git a/drake_ros_tf2/README.md b/drake_ros_tf2/README.md
index 6daad272..258fe85b 100644
--- a/drake_ros_tf2/README.md
+++ b/drake_ros_tf2/README.md
@@ -4,7 +4,7 @@ This package provides abstractions to simplify the use of tf2 ROS functionality
 
 ## Building
 
-This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly from April 2021.
+This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly or any stable releses after 14 Jan 2022.
 It may work on other versions of ROS and Drake, but it hasn't been tested.
 
 To build it:
@@ -12,7 +12,7 @@ To build it:
 1. [Install ROS Rolling](https://index.ros.org/doc/ros2/Installation/Rolling/)
 1. Source your ROS installation `. /opt/ros/rolling/setup.bash`
 1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
-1. [Use this Python virtualenv trick](https://drake.mit.edu/from_binary.html), under "Use as a Python Library", to extract the Drake binary installation, install its prerequisites.
+1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
 1. Activate the Drake virtual environment.
 1. Build it using Colcon, or using CMake directly.
 
diff --git a/drake_ros_tf2/include/drake_ros_tf2/scene_tf_broadcaster_system.hpp b/drake_ros_tf2/include/drake_ros_tf2/scene_tf_broadcaster_system.hpp
deleted file mode 100644
index 2a240154..00000000
--- a/drake_ros_tf2/include/drake_ros_tf2/scene_tf_broadcaster_system.hpp
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef DRAKE_ROS_TF2__SCENE_TF_BROADCASTER_SYSTEM_HPP_
-#define DRAKE_ROS_TF2__SCENE_TF_BROADCASTER_SYSTEM_HPP_
-
-#include <memory>
-#include <unordered_set>
-
-#include <drake/multibody/plant/multibody_plant.h>
-#include <drake/systems/framework/leaf_system.h>
-
-#include "drake_ros_core/drake_ros_interface.hpp"
-
-namespace drake_ros_tf2 {
-
-/// Set of parameters that configure a SceneTfBroadcasterParams.
-struct SceneTfBroadcasterParams {
-  /// Publish triggers for tf broadcasting.
-  std::unordered_set<drake::systems::TriggerType> publish_triggers{
-      drake::systems::TriggerType::kForced,
-      drake::systems::TriggerType::kPerStep};
-
-  /// Period for periodic tf broadcasting.
-  double publish_period{0.0};
-};
-
-/// System for tf2 transform broadcasting.
-///
-/// This system is a subdiagram aggregating a SceneTfSystem and a
-/// RosPublisherSystem to broadcast SceneGraph frame transforms.
-/// Messages are published to the `/tf` ROS topic.
-///
-/// It exports one input port:
-/// - *graph_query* (abstract): expects a QueryObject from the SceneGraph.
-class SceneTfBroadcasterSystem : public drake::systems::Diagram<double> {
- public:
-  explicit SceneTfBroadcasterSystem(
-      std::shared_ptr<drake_ros_core::DrakeRosInterface> ros_interface,
-      SceneTfBroadcasterParams params = {});
-  ~SceneTfBroadcasterSystem() override;
-
-  // Forwarded to SceneTfSystem::RegisterMultibodyPlant
-  void RegisterMultibodyPlant(
-      const drake::multibody::MultibodyPlant<double>* plant);
-
-  const drake::systems::InputPort<double>& get_graph_query_port() const;
-
- private:
-  class SceneTfBroadcasterSystemPrivate;
-
-  std::unique_ptr<SceneTfBroadcasterSystemPrivate> impl_;
-};
-}  // namespace drake_ros_tf2
-#endif  // DRAKE_ROS_TF2__SCENE_TF_BROADCASTER_SYSTEM_HPP_
diff --git a/drake_ros_tf2/include/drake_ros_tf2/scene_tf_system.hpp b/drake_ros_tf2/include/drake_ros_tf2/scene_tf_system.hpp
deleted file mode 100644
index 3aac3eb3..00000000
--- a/drake_ros_tf2/include/drake_ros_tf2/scene_tf_system.hpp
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef DRAKE_ROS_TF2__SCENE_TF_SYSTEM_HPP_
-#define DRAKE_ROS_TF2__SCENE_TF_SYSTEM_HPP_
-
-#include <memory>
-
-#include <drake/multibody/plant/multibody_plant.h>
-#include <drake/systems/framework/context.h>
-#include <drake/systems/framework/leaf_system.h>
-#include <tf2_msgs/msg/tf_message.hpp>
-
-namespace drake_ros_tf2 {
-/// System for SceneGraph frame transforms aggregation as a ROS tf2 message.
-///
-/// This system outputs a `tf2_msgs/msg/TFMessage` populated with the
-/// rigid transforms from the world frame to each other frame in the scene,
-/// using Context time to timestamp each `geometry_msgs/msg/TransformStamped`
-/// message.
-///
-/// It has one input port:
-/// - *graph_query* (abstract): expects a QueryObject from the SceneGraph.
-///
-/// It has one output port:
-/// - *scene_tf* (abstract): rigid transforms w.r.t. the world frame for all
-///   frames in the scene, as a tf2_msgs::msg::TFMessage message.
-class SceneTfSystem : public drake::systems::LeafSystem<double> {
- public:
-  SceneTfSystem();
-  virtual ~SceneTfSystem();
-
-  /// Register a MultibodyPlant present in the scene
-  /**
-   * This provides the system with additional information
-   * to generate semantically meaningful frame string IDs.
-   */
-  void RegisterMultibodyPlant(
-      const drake::multibody::MultibodyPlant<double>* plant);
-
-  const drake::systems::InputPort<double>& get_graph_query_port() const;
-
-  const drake::systems::OutputPort<double>& get_scene_tf_output_port() const;
-
- private:
-  void CalcSceneTf(const drake::systems::Context<double>& context,
-                   tf2_msgs::msg::TFMessage* output_value) const;
-
-  // PIMPL forward declaration
-  class SceneTfSystemPrivate;
-
-  std::unique_ptr<SceneTfSystemPrivate> impl_;
-};
-}  // namespace drake_ros_tf2
-#endif  // DRAKE_ROS_TF2__SCENE_TF_SYSTEM_HPP_
diff --git a/drake_ros_tf2/include/drake_ros_tf2/utilities/name_conventions.hpp b/drake_ros_tf2/include/drake_ros_tf2/utilities/name_conventions.hpp
deleted file mode 100644
index 38e94cc2..00000000
--- a/drake_ros_tf2/include/drake_ros_tf2/utilities/name_conventions.hpp
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef DRAKE_ROS_TF2__UTILITIES__NAME_CONVENTIONS_HPP_
-#define DRAKE_ROS_TF2__UTILITIES__NAME_CONVENTIONS_HPP_
-
-#include <string>
-#include <unordered_set>
-
-#include <drake/geometry/scene_graph_inspector.h>
-#include <drake/multibody/plant/multibody_plant.h>
-
-namespace drake_ros_tf2 {
-namespace utilities {
-
-std::string GetTfFrameName(
-    const drake::geometry::SceneGraphInspector<double>& inspector,
-    const std::unordered_set<const drake::multibody::MultibodyPlant<double>*>&
-        plants,
-    const drake::geometry::FrameId& frame_id);
-
-std::string GetTfFrameName(
-    const drake::geometry::SceneGraphInspector<double>& inspector,
-    const std::unordered_set<const drake::multibody::MultibodyPlant<double>*>&
-        plants,
-    const drake::geometry::GeometryId& geometry_id);
-
-}  // namespace utilities
-}  // namespace drake_ros_tf2
-
-#endif  // DRAKE_ROS_TF2__UTILITIES__NAME_CONVENTIONS_HPP_
diff --git a/drake_ros_tf2/include/drake_ros_tf2/utilities/type_conversion.hpp b/drake_ros_tf2/include/drake_ros_tf2/utilities/type_conversion.hpp
deleted file mode 100644
index f0d170ef..00000000
--- a/drake_ros_tf2/include/drake_ros_tf2/utilities/type_conversion.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#ifndef DRAKE_ROS_TF2__UTILITIES__TYPE_CONVERSION_HPP_
-#define DRAKE_ROS_TF2__UTILITIES__TYPE_CONVERSION_HPP_
-
-#include <drake/math/rigid_transform.h>
-#include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/transform.hpp>
-
-namespace drake_ros_tf2 {
-namespace utilities {
-
-geometry_msgs::msg::Transform ToTransformMsg(
-    const drake::math::RigidTransform<double> X_AB);
-
-}  // namespace utilities
-}  // namespace drake_ros_tf2
-
-#endif  // DRAKE_ROS_TF2__UTILITIES__TYPE_CONVERSION_HPP_
diff --git a/drake_ros_tf2/src/python_bindings/module_drake_ros_tf2.cpp b/drake_ros_tf2/src/python_bindings/module_drake_ros_tf2.cpp
deleted file mode 100644
index 41b98aac..00000000
--- a/drake_ros_tf2/src/python_bindings/module_drake_ros_tf2.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include <memory>
-
-#include "drake_ros_tf2/scene_tf_broadcaster_system.hpp"
-#include <drake/systems/framework/diagram.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-#include "drake_ros_core/ros_interface_system.hpp"
-
-namespace py = pybind11;
-
-using drake::systems::Diagram;
-using drake::systems::TriggerType;
-
-using drake_ros_core::DrakeRosInterface;
-using drake_ros_tf2::SceneTfBroadcasterParams;
-using drake_ros_tf2::SceneTfBroadcasterSystem;
-
-PYBIND11_MODULE(drake_ros_tf2, m) {
-  m.doc() = "Python wrapper for drake_ros_tf2";
-
-  py::module::import("drake_ros_core");
-
-  py::module::import("pydrake.systems.framework");
-  py::module::import("pydrake.multibody.plant");
-
-  py::class_<SceneTfBroadcasterParams>(m, "SceneTfBroadcasterParams")
-      .def(py::init([](py::kwargs kwargs) {
-        SceneTfBroadcasterParams obj{};
-        py::object pyobj = py::cast(&obj, py::return_value_policy::reference);
-        for (auto& item : kwargs) {
-          py::setattr(pyobj, item.first, item.second);
-        }
-        return obj;
-      }))
-      .def_readwrite("publish_triggers",
-                     &SceneTfBroadcasterParams::publish_triggers)
-      .def_readwrite("publish_period",
-                     &SceneTfBroadcasterParams::publish_period);
-
-  py::class_<SceneTfBroadcasterSystem, Diagram<double>>(
-      m, "SceneTfBroadcasterSystem")
-      .def(py::init<std::shared_ptr<DrakeRosInterface>,
-                    SceneTfBroadcasterParams>(),
-           py::arg("ros_interface"),
-           py::arg("params") = SceneTfBroadcasterParams{})
-      .def("RegisterMultibodyPlant",
-           &SceneTfBroadcasterSystem::RegisterMultibodyPlant)
-      .def("get_graph_query_port",
-           &SceneTfBroadcasterSystem::get_graph_query_port,
-           py::return_value_policy::reference_internal);
-}
diff --git a/drake_ros_tf2/src/scene_tf_broadcaster_system.cpp b/drake_ros_tf2/src/scene_tf_broadcaster_system.cpp
deleted file mode 100644
index ef936a43..00000000
--- a/drake_ros_tf2/src/scene_tf_broadcaster_system.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "drake_ros_tf2/scene_tf_broadcaster_system.hpp"
-
-#include <memory>
-#include <unordered_set>
-
-#include "drake_ros_tf2/scene_tf_system.hpp"
-#include <drake/systems/framework/diagram_builder.h>
-#include <tf2_msgs/msg/tf_message.hpp>
-#include <tf2_ros/qos.hpp>
-
-#include "drake_ros_core/drake_ros_interface.hpp"
-#include "drake_ros_core/ros_publisher_system.hpp"
-
-namespace drake_ros_tf2 {
-
-class SceneTfBroadcasterSystem::SceneTfBroadcasterSystemPrivate {
- public:
-  SceneTfSystem* scene_tf;
-};
-
-SceneTfBroadcasterSystem::SceneTfBroadcasterSystem(
-    std::shared_ptr<drake_ros_core::DrakeRosInterface> ros_interface,
-    SceneTfBroadcasterParams params)
-    : impl_(new SceneTfBroadcasterSystemPrivate()) {
-  drake::systems::DiagramBuilder<double> builder;
-
-  impl_->scene_tf = builder.AddSystem<SceneTfSystem>();
-
-  using drake_ros_core::RosPublisherSystem;
-  auto scene_tf_publisher =
-      builder.AddSystem(RosPublisherSystem::Make<tf2_msgs::msg::TFMessage>(
-          "/tf", tf2_ros::DynamicBroadcasterQoS(), ros_interface,
-          params.publish_triggers, params.publish_period));
-
-  builder.Connect(impl_->scene_tf->get_scene_tf_output_port(),
-                  scene_tf_publisher->get_input_port());
-
-  builder.ExportInput(impl_->scene_tf->get_graph_query_port(), "graph_query");
-
-  builder.BuildInto(this);
-}
-
-SceneTfBroadcasterSystem::~SceneTfBroadcasterSystem() {}
-
-void SceneTfBroadcasterSystem::RegisterMultibodyPlant(
-    const drake::multibody::MultibodyPlant<double>* plant) {
-  impl_->scene_tf->RegisterMultibodyPlant(plant);
-}
-
-const drake::systems::InputPort<double>&
-SceneTfBroadcasterSystem::get_graph_query_port() const {
-  return get_input_port();
-}
-
-}  // namespace drake_ros_tf2
diff --git a/drake_ros_tf2/src/scene_tf_system.cpp b/drake_ros_tf2/src/scene_tf_system.cpp
deleted file mode 100644
index 1d1d65a9..00000000
--- a/drake_ros_tf2/src/scene_tf_system.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "drake_ros_tf2/scene_tf_system.hpp"
-
-#include <unordered_set>
-
-#include "drake_ros_tf2/utilities/name_conventions.hpp"
-#include "drake_ros_tf2/utilities/type_conversion.hpp"
-#include <drake/geometry/query_object.h>
-#include <drake/geometry/scene_graph_inspector.h>
-#include <rclcpp/duration.hpp>
-#include <rclcpp/time.hpp>
-
-namespace drake_ros_tf2 {
-class SceneTfSystem::SceneTfSystemPrivate {
- public:
-  std::unordered_set<const drake::multibody::MultibodyPlant<double>*> plants;
-  drake::systems::InputPortIndex graph_query_port_index;
-  drake::systems::OutputPortIndex scene_tf_port_index;
-};
-
-SceneTfSystem::SceneTfSystem() : impl_(new SceneTfSystemPrivate()) {
-  impl_->graph_query_port_index =
-      this->DeclareAbstractInputPort(
-              "graph_query",
-              drake::Value<drake::geometry::QueryObject<double>>{})
-          .get_index();
-
-  impl_->scene_tf_port_index =
-      this->DeclareAbstractOutputPort("scene_tf", &SceneTfSystem::CalcSceneTf)
-          .get_index();
-}
-
-SceneTfSystem::~SceneTfSystem() {}
-
-void SceneTfSystem::RegisterMultibodyPlant(
-    const drake::multibody::MultibodyPlant<double>* plant) {
-  DRAKE_THROW_UNLESS(plant != nullptr);
-  impl_->plants.insert(plant);
-}
-
-const drake::systems::InputPort<double>& SceneTfSystem::get_graph_query_port()
-    const {
-  return get_input_port(impl_->graph_query_port_index);
-}
-
-const drake::systems::OutputPort<double>&
-SceneTfSystem::get_scene_tf_output_port() const {
-  return get_output_port(impl_->scene_tf_port_index);
-}
-
-void SceneTfSystem::CalcSceneTf(const drake::systems::Context<double>& context,
-                                tf2_msgs::msg::TFMessage* output_value) const {
-  const drake::geometry::QueryObject<double>& query_object =
-      get_graph_query_port().Eval<drake::geometry::QueryObject<double>>(
-          context);
-  const drake::geometry::SceneGraphInspector<double>& inspector =
-      query_object.inspector();
-  // TODO(hidmic): publish frame transforms w.r.t. to their parent frame
-  //               instead of the world frame when an API is made available.
-  if (inspector.num_frames() > 1) {
-    output_value->transforms.clear();
-    output_value->transforms.reserve(inspector.num_frames() - 1);
-
-    geometry_msgs::msg::TransformStamped transform;
-    transform.header.stamp =
-        rclcpp::Time() + rclcpp::Duration::from_seconds(context.get_time());
-    transform.header.frame_id = inspector.GetName(inspector.world_frame_id());
-    for (const drake::geometry::FrameId& frame_id :
-         inspector.GetAllFrameIds()) {
-      if (frame_id == inspector.world_frame_id()) {
-        continue;
-      }
-      transform.child_frame_id =
-          utilities::GetTfFrameName(inspector, impl_->plants, frame_id);
-      transform.transform =
-          utilities::ToTransformMsg(query_object.GetPoseInWorld(frame_id));
-      output_value->transforms.push_back(transform);
-    }
-  }
-}
-
-}  // namespace drake_ros_tf2
diff --git a/drake_ros_tf2/src/utilities/name_conventions.cpp b/drake_ros_tf2/src/utilities/name_conventions.cpp
deleted file mode 100644
index 31335637..00000000
--- a/drake_ros_tf2/src/utilities/name_conventions.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "drake_ros_tf2/utilities/name_conventions.hpp"
-
-#include <sstream>
-#include <string>
-#include <unordered_set>
-
-namespace drake_ros_tf2 {
-namespace utilities {
-
-namespace {
-
-std::string ReplaceAllOccurrences(std::string string, const std::string& target,
-                                  const std::string& replacement) {
-  std::string::size_type n = 0;
-  while ((n = string.find(target, n)) != std::string::npos) {
-    string.replace(n, target.size(), replacement);
-    n += replacement.size();
-  }
-  return string;
-}
-
-}  // namespace
-
-std::string GetTfFrameName(
-    const drake::geometry::SceneGraphInspector<double>& inspector,
-    const std::unordered_set<const drake::multibody::MultibodyPlant<double>*>&
-        plants,
-    const drake::geometry::FrameId& frame_id) {
-  std::stringstream ss;
-  for (auto* plant : plants) {
-    const drake::multibody::Body<double>* body =
-        plant->GetBodyFromFrameId(frame_id);
-    if (!body) {
-      continue;
-    }
-    const std::string& model_instance_name =
-        plant->GetModelInstanceName(body->model_instance());
-    ss << model_instance_name << "/";
-    const std::string& body_name = body->name();
-    if (body_name.empty()) {
-      ss << "unnamed_body_" << body->index();
-    } else {
-      ss << ReplaceAllOccurrences(body_name, "::", "/");
-    }
-    return ss.str();
-  }
-  const std::string& frame_name = inspector.GetName(frame_id);
-  if (frame_name.empty()) {
-    ss << "unnamed_frame_" << frame_id;
-  } else {
-    ss << ReplaceAllOccurrences(frame_name, "::", "/");
-  }
-  return ss.str();
-}
-
-std::string GetTfFrameName(
-    const drake::geometry::SceneGraphInspector<double>& inspector,
-    const std::unordered_set<const drake::multibody::MultibodyPlant<double>*>&
-        plants,
-    const drake::geometry::GeometryId& geometry_id) {
-  return GetTfFrameName(inspector, plants, inspector.GetFrameId(geometry_id));
-}
-
-}  // namespace utilities
-}  // namespace drake_ros_tf2
diff --git a/drake_ros_tf2/src/utilities/type_conversion.cpp b/drake_ros_tf2/src/utilities/type_conversion.cpp
deleted file mode 100644
index 2879626e..00000000
--- a/drake_ros_tf2/src/utilities/type_conversion.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "drake_ros_tf2/utilities/type_conversion.hpp"
-
-#include <drake/common/eigen_types.h>
-#include <drake/math/rigid_transform.h>
-#include <geometry_msgs/msg/pose.hpp>
-
-namespace drake_ros_tf2 {
-namespace utilities {
-
-geometry_msgs::msg::Transform ToTransformMsg(
-    const drake::math::RigidTransform<double> X_AB) {
-  geometry_msgs::msg::Transform msg;
-
-  const drake::Vector3<double>& p_AB = X_AB.translation();
-  msg.translation.x = p_AB.x();
-  msg.translation.y = p_AB.y();
-  msg.translation.z = p_AB.z();
-  const Eigen::Quaternion<double> R_AB = X_AB.rotation().ToQuaternion();
-  msg.rotation.x = R_AB.x();
-  msg.rotation.y = R_AB.y();
-  msg.rotation.z = R_AB.z();
-  msg.rotation.w = R_AB.w();
-
-  return msg;
-}
-
-}  // namespace utilities
-}  // namespace drake_ros_tf2
diff --git a/drake_ros_tf2/test/test_tf_broadcaster.cpp b/drake_ros_tf2/test/test_tf_broadcaster.cpp
deleted file mode 100644
index b3e94eb4..00000000
--- a/drake_ros_tf2/test/test_tf_broadcaster.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <unordered_set>
-#include <utility>
-#include <vector>
-
-#include "drake_ros_tf2/scene_tf_broadcaster_system.hpp"
-#include <drake/common/eigen_types.h>
-#include <drake/common/value.h>
-#include <drake/geometry/geometry_frame.h>
-#include <drake/geometry/scene_graph.h>
-#include <drake/math/rigid_transform.h>
-#include <drake/math/roll_pitch_yaw.h>
-#include <drake/math/rotation_matrix.h>
-#include <drake/systems/framework/diagram_builder.h>
-#include <drake/systems/primitives/constant_value_source.h>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <gtest/gtest.h>
-#include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-
-#include "drake_ros_core/drake_ros.hpp"
-#include "drake_ros_core/ros_interface_system.hpp"
-
-using drake_ros_core::DrakeRos;
-using drake_ros_core::RosInterfaceSystem;
-using drake_ros_tf2::SceneTfBroadcasterParams;
-using drake_ros_tf2::SceneTfBroadcasterSystem;
-
-TEST(SceneTfBroadcasting, NominalCase) {
-  drake::systems::DiagramBuilder<double> builder;
-
-  auto sys_ros_interface =
-      builder.AddSystem<RosInterfaceSystem>(std::make_unique<DrakeRos>());
-
-  auto scene_graph = builder.AddSystem<drake::geometry::SceneGraph>();
-  const drake::geometry::SourceId source_id =
-      scene_graph->RegisterSource("test_source");
-  const drake::geometry::FrameId odom_frame = scene_graph->RegisterFrame(
-      source_id, drake::geometry::GeometryFrame("odom"));
-  const drake::geometry::FrameId base_frame = scene_graph->RegisterFrame(
-      source_id, odom_frame, drake::geometry::GeometryFrame("base_link"));
-
-  const drake::math::RigidTransform<double> X_WO{
-      // World to Odom
-      drake::math::RotationMatrix<double>::Identity(),
-      drake::Vector3<double>{1., 1., 0.}};
-  const drake::math::RigidTransform<double> X_OB{
-      // Odom to Base link
-      drake::math::RollPitchYaw<double>(0., 0., M_PI / 2.),
-      drake::Vector3<double>{0., 0., 0.1}};
-
-  const drake::geometry::FramePoseVector<double> pose_vector{
-      {odom_frame, X_WO}, {base_frame, X_OB}};
-
-  auto pose_vector_value = drake::AbstractValue::Make(pose_vector);
-  auto pose_vector_source =
-      builder.AddSystem<drake::systems::ConstantValueSource>(
-          *pose_vector_value);
-
-  builder.Connect(pose_vector_source->get_output_port(),
-                  scene_graph->get_source_pose_port(source_id));
-
-  auto scene_tf_broadcaster = builder.AddSystem<SceneTfBroadcasterSystem>(
-      sys_ros_interface->get_ros_interface(),
-      SceneTfBroadcasterParams{{drake::systems::TriggerType::kForced}, 0.});
-
-  builder.Connect(scene_graph->get_query_output_port(),
-                  scene_tf_broadcaster->GetInputPort("graph_query"));
-
-  auto diagram = builder.Build();
-  auto context = diagram->CreateDefaultContext();
-
-  // Don't need to rclcpp::init because DrakeRos uses global rclcpp::Context by
-  // default
-  auto node = rclcpp::Node::make_shared("tf_listener");
-
-  tf2_ros::Buffer buffer(node->get_clock());
-  buffer.setUsingDedicatedThread(true);  // Shut tf2 warnings.
-
-  constexpr bool kNoSpinThread{false};
-  tf2_ros::TransformListener listener(buffer, node, kNoSpinThread);
-
-  const auto time = rclcpp::Time() + rclcpp::Duration::from_seconds(13.);
-
-  context->SetTime(time.seconds());
-  diagram->Publish(*context);
-  rclcpp::spin_some(node);
-
-  EXPECT_TRUE(buffer.canTransform("world", "odom", time));
-  const geometry_msgs::msg::TransformStamped world_to_odom =
-      buffer.lookupTransform("world", "odom", time);
-  const builtin_interfaces::msg::Time stamp = time;
-  EXPECT_EQ(world_to_odom.header.stamp.sec, stamp.sec);
-  EXPECT_EQ(world_to_odom.header.stamp.nanosec, stamp.nanosec);
-  const drake::Vector3<double>& p_WO = X_WO.translation();
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.translation.x, p_WO.x());
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.translation.y, p_WO.y());
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.translation.z, p_WO.z());
-  const Eigen::Quaternion<double> R_WO = X_WO.rotation().ToQuaternion();
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.rotation.x, R_WO.x());
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.rotation.y, R_WO.y());
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.rotation.z, R_WO.z());
-  EXPECT_DOUBLE_EQ(world_to_odom.transform.rotation.w, R_WO.w());
-
-  EXPECT_TRUE(buffer.canTransform("odom", "base_link", time));
-  const geometry_msgs::msg::TransformStamped odom_to_base_link =
-      buffer.lookupTransform("odom", "base_link", time);
-  EXPECT_EQ(odom_to_base_link.header.stamp.sec, stamp.sec);
-  EXPECT_EQ(odom_to_base_link.header.stamp.nanosec, stamp.nanosec);
-  const drake::Vector3<double>& p_OB = X_OB.translation();
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.translation.x, p_OB.x());
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.translation.y, p_OB.y());
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.translation.z, p_OB.z());
-  const Eigen::Quaternion<double> R_OB = X_OB.rotation().ToQuaternion();
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.rotation.x, R_OB.x());
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.rotation.y, R_OB.y());
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.rotation.z, R_OB.z());
-  EXPECT_DOUBLE_EQ(odom_to_base_link.transform.rotation.w, R_OB.w());
-}
diff --git a/drake_ros_tf2/test/test_type_conversion.cpp b/drake_ros_tf2/test/test_type_conversion.cpp
deleted file mode 100644
index 9502b515..00000000
--- a/drake_ros_tf2/test/test_type_conversion.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cmath>
-
-#include "drake_ros_tf2/utilities/type_conversion.hpp"
-#include <gtest/gtest.h>
-
-TEST(TypeConversion, ToTransformMsg) {
-  const drake::Vector3<double> translation{3., 2., 1.};
-  const drake::Quaternion<double> rotation{0., 0., sin(-M_PI / 4.),
-                                           cos(-M_PI / 4.)};
-  const drake::math::RigidTransform<double> transform{rotation, translation};
-  const geometry_msgs::msg::Transform message =
-      drake_ros_tf2::utilities::ToTransformMsg(transform);
-  EXPECT_DOUBLE_EQ(message.translation.x, translation.x());
-  EXPECT_DOUBLE_EQ(message.translation.y, translation.y());
-  EXPECT_DOUBLE_EQ(message.translation.z, translation.z());
-  EXPECT_DOUBLE_EQ(message.rotation.x, rotation.x());
-  EXPECT_DOUBLE_EQ(message.rotation.y, rotation.y());
-  EXPECT_DOUBLE_EQ(message.rotation.z, rotation.z());
-  EXPECT_DOUBLE_EQ(message.rotation.w, rotation.w());
-}
diff --git a/drake_ros_viz/.clang-format b/drake_ros_viz/.clang-format
index ff6a7ada..1e5eeb3a 100644
--- a/drake_ros_viz/.clang-format
+++ b/drake_ros_viz/.clang-format
@@ -38,7 +38,7 @@ IncludeCategories:
   - Regex:    '^<'
     Priority: 40
   # Your project's h files.
-  - Regex:    '^"drake_ros_core'
+  - Regex:    '^"drake_ros_viz'
     Priority: 50
   # Other libraries' h files (with quotes).
   - Regex:    '^"'
diff --git a/drake_ros_viz/CMakeLists.txt b/drake_ros_viz/CMakeLists.txt
index 79e44b49..3bd3e4e0 100644
--- a/drake_ros_viz/CMakeLists.txt
+++ b/drake_ros_viz/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 project(drake_ros_viz)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
@@ -9,14 +9,15 @@ endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
-find_package(ament_cmake_ros REQUIRED)
+
+find_package(ament_cmake REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(drake REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
 add_library(drake_ros_viz
-  src/utilities/name_conventions.cpp
-  src/utilities/type_conversion.cpp
+  src/utilities/name_conventions.cc
+  src/utilities/type_conversion.cc
 )
 
 target_link_libraries(drake_ros_viz PUBLIC
@@ -40,7 +41,9 @@ ament_export_dependencies(drake)
 ament_export_dependencies(geometry_msgs)
 ament_export_dependencies(visualization_msgs)
 
-install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -60,7 +63,7 @@ if(BUILD_TESTING)
 
   find_package(ament_cmake_gtest REQUIRED)
 
-  ament_add_gtest(test_type_conversion test/test_type_conversion.cpp)
+  ament_add_gtest(test_type_conversion test/test_type_conversion.cc)
   target_link_libraries(test_type_conversion
     drake::drake
     drake_ros_viz
diff --git a/drake_ros_viz/CPPLINT.cfg b/drake_ros_viz/CPPLINT.cfg
index 98c9cdd4..476dca32 100644
--- a/drake_ros_viz/CPPLINT.cfg
+++ b/drake_ros_viz/CPPLINT.cfg
@@ -41,6 +41,12 @@ filter=+build/pragma_once
 # Disable cpplint's include order.  We have our own via //tools:drakelint.
 filter=-build/include_order
 
+# TODO(hidmic): uncomment when ament_cpplint updates its vendored cpplint
+# version to support the following filters. Also remove corresponding NOLINT
+# codetags in sources.
+## Allow private, sibling include files.
+#filter=-build/include_subdir
+
 # We do not care about the whitespace details of a TODO comment.  It is not
 # relevant for easy grepping, and the GSG does not specify any particular
 # whitespace style.  (We *do* care what the "TODO(username)" itself looks like
diff --git a/drake_ros_viz/README.md b/drake_ros_viz/README.md
index e55d311d..ff79ddc4 100644
--- a/drake_ros_viz/README.md
+++ b/drake_ros_viz/README.md
@@ -1,20 +1,20 @@
-# Drake ROS Systems
+# Drake ROS Viz
 
 This package provides abstractions to simplify the visualization of a Drake scene using `rviz2`.
 
 ## Building
 
-This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly from April 2021.
+This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly or any stable releases after 14 Jan 2022.
 It may work on other versions of ROS and Drake, but it hasn't been tested.
 
 To build it:
 
 1. [Install ROS Rolling](https://index.ros.org/doc/ros2/Installation/Rolling/)
 1. Source your ROS installation `. /opt/ros/rolling/setup.bash`
-1. [Download April-ish 2021 Drake binary](https://drake.mit.edu/from_binary.html)
-1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/python_bindings.html#inside-virtualenv).
-1. Activate the drake virtual environment
-1. Build it using Colcon, or using CMake directly
+1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
+1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
+1. Activate the drake virtual environment.
+1. Build it using Colcon, or using CMake directly.
     
     **Colcon**
     1. Make a workspace `mkdir -p ./ws/src`
diff --git a/drake_ros_viz/include/drake_ros_viz/utilities/name_conventions.hpp b/drake_ros_viz/include/drake_ros_viz/utilities/name_conventions.h
similarity index 66%
rename from drake_ros_viz/include/drake_ros_viz/utilities/name_conventions.hpp
rename to drake_ros_viz/include/drake_ros_viz/utilities/name_conventions.h
index 3cea2675..a3390a7d 100644
--- a/drake_ros_viz/include/drake_ros_viz/utilities/name_conventions.hpp
+++ b/drake_ros_viz/include/drake_ros_viz/utilities/name_conventions.h
@@ -11,8 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef DRAKE_ROS_VIZ__UTILITIES__NAME_CONVENTIONS_HPP_
-#define DRAKE_ROS_VIZ__UTILITIES__NAME_CONVENTIONS_HPP_
+#pragma once
 
 #include <string>
 #include <unordered_set>
@@ -23,6 +22,16 @@
 namespace drake_ros_viz {
 namespace utilities {
 
+/** Retrieve conventional marker namespace for a given scene geometry.
+ @param[in] inspector inspector for a given SceneGraph's data.
+ @param[in] plants a set of MultibodyPlant instances from which to derive
+   semantically meaningful marker namespaces, if possible.
+ @param[in] geometry_id target geometry ID.
+ @returns the namespace for the marker
+ @pre `geomtry_id` is associated with a registered geometry in the SceneGraph
+   implied by `inspector`.
+ @pre all `plants` are associated with the SceneGraph implied by `inspector`.
+ */
 std::string GetMarkerNamespace(
     const drake::geometry::SceneGraphInspector<double>& inspector,
     const std::unordered_set<const drake::multibody::MultibodyPlant<double>*>&
@@ -31,5 +40,3 @@ std::string GetMarkerNamespace(
 
 }  // namespace utilities
 }  // namespace drake_ros_viz
-
-#endif  // DRAKE_ROS_VIZ__UTILITIES__NAME_CONVENTIONS_HPP_
diff --git a/drake_ros_viz/include/drake_ros_viz/utilities/type_conversion.hpp b/drake_ros_viz/include/drake_ros_viz/utilities/type_conversion.h
similarity index 84%
rename from drake_ros_viz/include/drake_ros_viz/utilities/type_conversion.hpp
rename to drake_ros_viz/include/drake_ros_viz/utilities/type_conversion.h
index 53e9d715..09c98b47 100644
--- a/drake_ros_viz/include/drake_ros_viz/utilities/type_conversion.hpp
+++ b/drake_ros_viz/include/drake_ros_viz/utilities/type_conversion.h
@@ -11,8 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef DRAKE_ROS_VIZ__UTILITIES__TYPE_CONVERSION_HPP_
-#define DRAKE_ROS_VIZ__UTILITIES__TYPE_CONVERSION_HPP_
+#pragma once
 
 #include <drake/math/rigid_transform.h>
 #include <geometry_msgs/msg/pose.hpp>
@@ -25,5 +24,3 @@ geometry_msgs::msg::Pose ToPoseMsg(
 
 }  // namespace utilities
 }  // namespace drake_ros_viz
-
-#endif  // DRAKE_ROS_VIZ__UTILITIES__TYPE_CONVERSION_HPP_
diff --git a/drake_ros_viz/package.xml b/drake_ros_viz/package.xml
index c6e2db43..cdcce7f2 100644
--- a/drake_ros_viz/package.xml
+++ b/drake_ros_viz/package.xml
@@ -8,7 +8,7 @@
   <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>geometry_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/drake_ros_viz/src/utilities/name_conventions.cpp b/drake_ros_viz/src/utilities/name_conventions.cc
similarity index 97%
rename from drake_ros_viz/src/utilities/name_conventions.cpp
rename to drake_ros_viz/src/utilities/name_conventions.cc
index e7065706..bec858c5 100644
--- a/drake_ros_viz/src/utilities/name_conventions.cpp
+++ b/drake_ros_viz/src/utilities/name_conventions.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "drake_ros_viz/utilities/name_conventions.hpp"
+#include "drake_ros_viz/utilities/name_conventions.h"
 
 #include <sstream>
 #include <string>
diff --git a/drake_ros_viz/src/utilities/type_conversion.cpp b/drake_ros_viz/src/utilities/type_conversion.cc
similarity index 96%
rename from drake_ros_viz/src/utilities/type_conversion.cpp
rename to drake_ros_viz/src/utilities/type_conversion.cc
index 1324f110..da656487 100644
--- a/drake_ros_viz/src/utilities/type_conversion.cpp
+++ b/drake_ros_viz/src/utilities/type_conversion.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "drake_ros_viz/utilities/type_conversion.hpp"
+#include "drake_ros_viz/utilities/type_conversion.h"
 
 #include <drake/common/eigen_types.h>
 #include <drake/math/rigid_transform.h>
diff --git a/drake_ros_viz/test/test_type_conversion.cpp b/drake_ros_viz/test/test_type_conversion.cc
similarity index 96%
rename from drake_ros_viz/test/test_type_conversion.cpp
rename to drake_ros_viz/test/test_type_conversion.cc
index 54c04c17..9a9155a1 100644
--- a/drake_ros_viz/test/test_type_conversion.cpp
+++ b/drake_ros_viz/test/test_type_conversion.cc
@@ -14,9 +14,10 @@
 
 #include <cmath>
 
-#include "drake_ros_viz/utilities/type_conversion.hpp"
 #include <gtest/gtest.h>
 
+#include "drake_ros_viz/utilities/type_conversion.h"
+
 TEST(TypeConversion, ToPoseMsg) {
   const drake::Vector3<double> position{1., 2., 3.};
   const drake::Quaternion<double> orientation{0., 0., sin(M_PI / 4.),