Add ROS_NAMESPACE prefix to tf output from robot state publisher (ros ticket #4330)

[ahendrix]

{{{

<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" machine="test_host">

<param name="tf_prefix" type="string" value="$(env ROS_NAMESPACE)" />

}}}

If the robot state publisher is launched in a different namespace, then the tf output will be screwed up. This launch file is in pr2_controller_manager.launch

An alternative to above is to use "$(optenv ROS_NAMESPACE '')".

trac data:

• Owner: watts
• Reporter: watts
• Reported at: Fri May 14 11:10:52 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4330

[ahendrix]

[wim] This should have been fixed in the 1.0.2 release https://code.ros.org/trac/ros-pkg/ticket/3949. You should be able to only set tf_prefix in the robot namespace, and the robot state publisher will find it, even if the robot state publisher is in a different namespace.

Could you test if this works?

[ahendrix]

[watts] So what this means is that I have to go like this:

{{{

``` ```

}}}

Looks ok to me.

I fixed my systems, r37816