Currently, the hardware interface does not support empty parameters (see https://github.com/ros-controls/ros2_control/issues/994). Hence, we use a workaround by prefixing something to the tf_prefix that we can later remove inside the hardware_interface.
Currently, the hardware interface does not support empty parameters (see https://github.com/ros-controls/ros2_control/issues/994). Hence, we use a workaround by prefixing something to the tf_prefix that we can later remove inside the hardware_interface.
This implements a suggestion from @firesurfer (https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/633#issuecomment-1516031750) until we've sorted out how https://github.com/ros-controls/ros2_control/issues/994 progresses.