diff --git a/src/perception_pkg/launch/perception.launch.py b/src/perception_pkg/launch/perception.launch.py
index bff03f0..4fc8e06 100755
--- a/src/perception_pkg/launch/perception.launch.py
+++ b/src/perception_pkg/launch/perception.launch.py
@@ -3,6 +3,7 @@ from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 
@@ -36,6 +37,9 @@ def generate_launch_description():
                 name='pub_static_tf',
                 output='screen',
                 parameters=[use_sim_time_param],
+                # Gazebo publishes base_link -> os_lidar from the model SDF.
+                # Keep this real-platform transform publisher out of simulation.
+                condition=UnlessCondition(sim_mode),
             ),
             Node( # 현재 imu와 speed를 이용한 odom만 발행. 추후 vehicle steering
                 package='perception_pkg',