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cra-ros-pkg / robot_localization

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
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navsat frame ID leading slash #471

Open lstromeyer opened 5 years ago

lstromeyer commented 5 years ago

I am unsure if I should be filing this ticket here. The issue I encountered is that the NMEA serial package I used the standard ROS libnmea_navsat_driver (specifically the function driver.get_frame_id()). That I believe based on the old tf transform library automatically put a leading slash to frame ID which tf2 does not like. Either someone did not update the libnmea_navsat_driver or they kept it that way for backwards compatibility. Your navsat_transform_node did not like this. Would it be possible to add a check in your package to strip any leading slashes? Your package is not the root of the source but I believe a similar issue might come from a number of sources. I believe you already do this for localization nodes, so can this be added to the navsat transform node? I hope this is useful and I hope I did not get anything wrong here when tracing the problem.

ayrton04 commented 5 years ago

Sounds reasonable. Have you opened a ticket on the nmea_navsat_driver repo as well?

Also, this is a pretty trivial change, and if you're comfortable doing so, I'd be willing to accept a PR for it.

lstromeyer commented 5 years ago

Thanks for the reply. I'll make the branch with the changes sometime in the next few days. I haven't yet done it on the other repo but it is on my to do list.

On Mon, Jul 1, 2019 at 1:57 AM Tom Moore notifications@github.com wrote:

Sounds reasonable. Have you opened a ticket on the nmea_navsat_driver repo as well?

Also, this is a pretty trivial change, and if you're comfortable doing so, I'd be willing to accept a PR for it.

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