diff --git a/src/rviz/default_plugin/point_cloud_common.cpp b/src/rviz/default_plugin/point_cloud_common.cpp
index b8ddccceab..441b7cafa2 100644
--- a/src/rviz/default_plugin/point_cloud_common.cpp
+++ b/src/rviz/default_plugin/point_cloud_common.cpp
@@ -637,23 +637,6 @@ void PointCloudCommon::update(float /*wall_dt*/, float /*ros_dt*/)
     new_color_transformer_ = false;
   }
 
-  for (CloudInfoPtr& cloud_info : cloud_infos_)
-  {
-    if (!context_->getFrameManager()->getTransform(cloud_info->message_->header.frame_id, ros::Time(),
-                                                   cloud_info->position_, cloud_info->orientation_))
-    {
-      std::stringstream ss;
-      ss << "Failed to transform from frame [" << cloud_info->message_->header.frame_id << "] to frame ["
-         << context_->getFrameManager()->getFixedFrame() << "]";
-      display_->setStatusStd(StatusProperty::Error, "Message", ss.str());
-    }
-    else
-    {
-      cloud_info->scene_node_->setPosition(cloud_info->position_);
-      cloud_info->scene_node_->setOrientation(cloud_info->orientation_);
-    }
-  }
-
   updateStatus();
 }
 
diff --git a/src/test/point_cloud_test.py b/src/test/point_cloud_test.py
deleted file mode 100644
index a410c9c33b..0000000000
--- a/src/test/point_cloud_test.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python
-
-# This program publishes a pointcloud2 to test rviz rendering
-
-from __future__ import print_function
-
-import rospy
-import numpy as np
-from sensor_msgs import point_cloud2
-from sensor_msgs.msg import PointCloud2
-from sensor_msgs.msg import PointField
-from std_msgs.msg import Header
-
-import math
-import time
-from geometry_msgs.msg import TransformStamped
-from tf2_ros.transform_broadcaster import TransformBroadcaster
-from tf.transformations import quaternion_from_euler
-from visualization_msgs.msg import Marker
-
-RATE = 30
-width = 100
-height = 100
-
-
-def generate_point_cloud():
-    fields = [
-        PointField("x", 0, PointField.FLOAT32, 1),
-        PointField("y", 4, PointField.FLOAT32, 1),
-        PointField("z", 8, PointField.FLOAT32, 1),
-        PointField("intensity", 12, PointField.FLOAT32, 1),
-    ]
-
-    header = Header()
-    header.frame_id = "map"
-    header.stamp = rospy.Time.now()
-
-    x, y = np.meshgrid(np.linspace(-2, 2, width), np.linspace(-2, 2, height))
-    z = 0.5 * np.sin(2 * x) * np.sin(3 * y)
-    points = np.array([x, y, z, z]).reshape(4, -1).T
-
-    return point_cloud2.create_cloud(header, fields, points)
-
-
-def draw_eight(elapsed_time, full_cycle_duration=10, scale=10):
-    # lemniscate of Gerono
-    progress = (elapsed_time % full_cycle_duration) / full_cycle_duration
-    t = -0.5 * math.pi + progress * (2 * math.pi)
-    x = math.cos(t) * scale
-    y = math.sin(t) * math.cos(t) * scale
-    dx_dt = -math.sin(t)
-    dy_dt = math.cos(t) * math.cos(t) - math.sin(t) * math.sin(t)
-    yaw = math.atan2(dy_dt, dx_dt)
-    return x, y, yaw
-
-
-def display_dummy_robot(stamp):
-    marker = Marker()
-    marker.header.frame_id = "base_link"
-    marker.header.stamp = stamp
-    marker.ns = "robot"
-    marker.id = 0
-    marker.type = Marker.CUBE
-    marker.action = Marker.ADD
-    marker.pose.position.x = 0
-    marker.pose.position.y = 0
-    marker.pose.position.z = 0
-    marker.pose.orientation.x = 0.0
-    marker.pose.orientation.y = 0.0
-    marker.pose.orientation.z = 0.0
-    marker.pose.orientation.w = 1.0
-    marker.scale.x = 1
-    marker.scale.y = 1
-    marker.scale.z = 1
-    marker.color.a = 1.0
-    marker.color.r = 0.0
-    marker.color.g = 1.0
-    marker.color.b = 0.0
-    vis_pub.publish(marker)
-
-
-if __name__ == "__main__":
-    rospy.init_node("point_cloud_test")
-
-    tf_broadcaster = TransformBroadcaster()
-
-    vis_pub = rospy.Publisher("robot/marker", Marker, queue_size=5)
-    pc_pub = rospy.Publisher("points2", PointCloud2, queue_size=5)
-    pc = generate_point_cloud()
-
-    i = 0
-    rate = rospy.Rate(RATE)
-    start = rospy.Time.now()
-    while not rospy.is_shutdown():
-        now = rospy.Time.now()
-
-        if i % RATE == 0:
-            # publish just once per second
-            pc.header.stamp = now
-            pc_pub.publish(pc)
-        i += 1
-
-        robot_x, robot_y, robot_yaw = draw_eight((now - start).to_sec())
-        q = quaternion_from_euler(0, 0, robot_yaw)
-
-        tf = TransformStamped()
-        tf.header.frame_id = "map"
-        tf.header.stamp = now
-        tf.child_frame_id = "base_link"
-        tf.transform.translation.x = robot_x
-        tf.transform.translation.y = robot_y
-        tf.transform.rotation.x = q[0]
-        tf.transform.rotation.y = q[1]
-        tf.transform.rotation.z = q[2]
-        tf.transform.rotation.w = q[3]
-        tf_broadcaster.sendTransform(tf)
-
-        display_dummy_robot(now)
-
-        rate.sleep()