diff --git a/ianvs/CMakeLists.txt b/ianvs/CMakeLists.txt
index 9572e13..c49773f 100644
--- a/ianvs/CMakeLists.txt
+++ b/ianvs/CMakeLists.txt
@@ -98,12 +98,16 @@ endif()
 # Executables
 #######################################################################################
 
-add_executable(play_rosbag app/play_rosbag.cpp)
-target_link_libraries(play_rosbag PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_rosbag)
+add_executable(csv_to_tf app/csv_to_tf.cpp)
+ament_target_dependencies(csv_to_tf PUBLIC tf2_ros)
+target_link_libraries(csv_to_tf PUBLIC ${PROJECT_NAME})
 
 add_executable(merge_rosbags app/merge_rosbags.cpp)
 target_link_libraries(merge_rosbags PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_rosbag)
 
+add_executable(play_rosbag app/play_rosbag.cpp)
+target_link_libraries(play_rosbag PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_rosbag)
+
 add_executable(transform_file_broadcaster app/transform_file_broadcaster.cpp)
 ament_target_dependencies(transform_file_broadcaster PUBLIC tf2_ros rclcpp)
 target_link_libraries(transform_file_broadcaster PUBLIC yaml-cpp::yaml-cpp)
@@ -153,8 +157,9 @@ install(
   TARGETS ${PROJECT_NAME}
           ${PROJECT_NAME}_plugins
           ${PROJECT_NAME}_rosbag
-          play_rosbag
+          csv_to_tf
           merge_rosbags
+          play_rosbag
           transform_file_broadcaster
           transform_file_lookup
   EXPORT ${PROJECT_NAME}-exports
diff --git a/ianvs/app/csv_to_tf.cpp b/ianvs/app/csv_to_tf.cpp
new file mode 100644
index 0000000..62d9013
--- /dev/null
+++ b/ianvs/app/csv_to_tf.cpp
@@ -0,0 +1,236 @@
+#include <tf2_ros/transform_broadcaster.h>
+
+#include <filesystem>
+#include <fstream>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include <CLI/CLI.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+using geometry_msgs::msg::TransformStamped;
+
+class CsvToTfNode : public rclcpp::Node {
+ public:
+  explicit CsvToTfNode(const std::vector<TransformStamped>& transforms);
+
+  const std::vector<geometry_msgs::msg::TransformStamped> transforms_;
+
+ private:
+  void callback();
+  rclcpp::Time get_curr_tf_stamp() const;
+  bool curr_tf_is_stale(const rclcpp::Time& ros_stamp) const;
+
+ private:
+  size_t idx_;
+
+  double offset_;
+  double lookahead_;
+  double stale_;
+
+  std::unique_ptr<tf2_ros::TransformBroadcaster> broadcaster_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+CsvToTfNode::CsvToTfNode(const std::vector<TransformStamped>& transforms)
+    : rclcpp::Node("csv_to_tf"), transforms_(transforms), idx_(0) {
+  broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
+  offset_ = declare_parameter<double>("offset_s", 0.0);
+  lookahead_ = declare_parameter<double>("lookahead_s", 0.0);
+  stale_ = declare_parameter<double>("stale_threshold_s", 0.5);
+
+  auto timer_callback = [this]() { callback(); };
+  const auto period = declare_parameter<double>("poll_period_s", 0.001);
+  timer_ = create_wall_timer(std::chrono::duration<double>(period), timer_callback);
+
+  auto logger = get_logger();
+  RCLCPP_INFO_STREAM(logger, "Polling clock every " << period << " [s]");
+  RCLCPP_INFO_STREAM(logger, "Offsetting transforms by " << offset_ << " [s]");
+  RCLCPP_INFO_STREAM(logger, "Using lookahead of " << lookahead_ << " [s]");
+  RCLCPP_INFO_STREAM(logger, "Discarding TFs more than " << stale_ << " [s] behind clock");
+}
+
+void CsvToTfNode::callback() {
+  auto logger = get_logger();
+  const auto stamp = get_clock()->now();
+  const auto stamp_ns = stamp.nanoseconds();
+
+  const auto prev_idx = idx_;
+  while (curr_tf_is_stale(stamp)) {
+    const auto curr_ns = get_curr_tf_stamp().nanoseconds();
+    RCLCPP_DEBUG_STREAM(logger, "Dropping " << curr_ns << " [ns] @ " << stamp_ns << " [ns]");
+    ++idx_;
+  }
+
+  size_t num_dropped = idx_ - prev_idx;
+  if (num_dropped > 0) {
+    RCLCPP_WARN_STREAM(logger, "Dropped " << num_dropped << " older than " << stamp_ns << " [ns]");
+  }
+
+  if (idx_ >= transforms_.size()) {
+    RCLCPP_INFO(logger, "Finished publishing transforms");
+    timer_->cancel();
+    return;
+  }
+
+  const auto next_stamp = get_curr_tf_stamp();
+  const auto next_ns = next_stamp.nanoseconds();
+  const auto diff = next_stamp - stamp;
+  const auto diff_ns = diff.nanoseconds();
+  RCLCPP_DEBUG_STREAM(logger, "Waiting for " << next_ns << " [ns] (diff: " << diff_ns << ")");
+  if (diff > rclcpp::Duration::from_seconds(lookahead_)) {
+    return;
+  }
+
+  RCLCPP_DEBUG_STREAM(logger, "Sending " << next_ns << " [ns] @ " << stamp_ns << " [ns]");
+  auto msg = transforms_[idx_];
+  msg.header.stamp = next_stamp;
+  broadcaster_->sendTransform(msg);
+  ++idx_;
+}
+
+rclcpp::Time CsvToTfNode::get_curr_tf_stamp() const {
+  if (idx_ >= transforms_.size()) {
+    return rclcpp::Time();
+  }
+
+  return rclcpp::Time(transforms_[idx_].header.stamp) + rclcpp::Duration::from_seconds(offset_);
+}
+
+bool CsvToTfNode::curr_tf_is_stale(const rclcpp::Time& ros_stamp) const {
+  const auto curr_stamp = get_curr_tf_stamp();
+  if (curr_stamp.nanoseconds() == 0 || ros_stamp < curr_stamp) {
+    return false;
+  }
+
+  return (ros_stamp - curr_stamp) > rclcpp::Duration::from_seconds(stale_);
+}
+
+struct ParseOptions {
+  std::filesystem::path filepath;
+
+  bool skip_first = true;
+  std::string parent = "odom";
+  std::string child = "base_link";
+  std::vector<std::string> parse_order = {"x", "y", "z", "qw", "qx", "qy", "qz"};
+  std::vector<double> origin = {0.0, 0.0, 0.0};
+
+  void add_args(CLI::App& app);
+  TransformStamped parse_line(const std::string& line) const;
+  std::vector<TransformStamped> parse() const;
+};
+
+void ParseOptions::add_args(CLI::App& app) {
+  app.add_option("filepath", filepath)
+      ->check(CLI::ExistingFile)
+      ->required()
+      ->description("Path to CSV trajectory file");
+  app.add_option("--parent", parent, "Frame ID for parent frame")->default_val("odom");
+  app.add_option("--child", child, "Frame ID for child frame")->default_val("base_link");
+  app.add_option("--origin", origin, "Origin offset")->expected(3);
+  app.add_option("--order", parse_order, "Column order")->expected(7);
+  app.add_flag("--skip-first/!--no-skip-first", skip_first, "Parse first line as data");
+}
+
+TransformStamped ParseOptions::parse_line(const std::string& line) const {
+  std::istringstream iss(line);
+
+  TransformStamped tf;
+  tf.header.frame_id = parent;
+  tf.child_frame_id = child;
+
+  size_t index = 0;
+  std::string token;
+  std::map<std::string, double> elements;
+  while (std::getline(iss, token, ',')) {
+    if (index == 0) {
+      tf.header.stamp = rclcpp::Time(std::stoll(token));
+      ++index;
+      continue;
+    }
+
+    elements[parse_order.at(index - 1)] = std::stod(token);
+    ++index;
+  }
+
+  tf.transform.translation.x = elements.at("x") - origin[0];
+  tf.transform.translation.y = elements.at("y") - origin[1];
+  tf.transform.translation.z = elements.at("z") - origin[2];
+  tf.transform.rotation.w = elements.at("qw");
+  tf.transform.rotation.x = elements.at("qx");
+  tf.transform.rotation.y = elements.at("qy");
+  tf.transform.rotation.z = elements.at("qz");
+  return tf;
+}
+
+std::vector<TransformStamped> ParseOptions::parse() const {
+  std::ifstream file(filepath);
+  if (!file) {
+    return {};
+  }
+
+  std::string line;
+  bool first_line = true;
+  std::vector<TransformStamped> transforms;
+  while (std::getline(file, line)) {
+    if (first_line) {
+      first_line = false;
+      if (skip_first) {
+        continue;
+      }
+    }
+
+    transforms.push_back(parse_line(line));
+  }
+
+  return transforms;
+}
+
+std::vector<char*> get_ros_args(int& argc, char** argv) {
+  // filters argc and argv to only have wrapper node args
+  std::vector<char*> ros_argv;
+  ros_argv.push_back(argv[0]);
+
+  bool found_ros_args = false;
+  const int max_args = argc;
+  for (int i = 1; i < max_args; ++i) {
+    std::string arg(argv[i]);
+    if (arg == "--ros-args") {
+      argc = i;
+      found_ros_args = true;
+    }
+
+    if (found_ros_args) {
+      ros_argv.push_back(argv[i]);
+    }
+  }
+
+  return ros_argv;
+}
+
+int main(int argc, char* argv[]) {
+  CLI::App app("Node publishing parent_T_child from CSV");
+  app.allow_extras();
+  app.get_formatter()->column_width(50);
+
+  ParseOptions opts;
+  opts.add_args(app);
+  try {
+    app.parse(argc, argv);
+  } catch (const CLI::ParseError& e) {
+    return app.exit(e);
+  }
+
+  const auto transforms = opts.parse();
+  const auto ros_argv = get_ros_args(argc, argv);
+  rclcpp::init(ros_argv.size(), ros_argv.data());
+  auto node = std::make_shared<CsvToTfNode>(transforms);
+  RCLCPP_INFO_STREAM(node->get_logger(), "Publishing " << opts.parent << "_T_" << opts.child);
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}