Currently, this package is unavailable to compile under ros noetic and thus Ubuntu 20.04 focal. Error when building using catkin build indicate problems with tf_prefix, a relic from tf deprecated since melodic.
This PR proposes to drop the tf_prefix from the urdf_visualizer.h, which calls to the robot_state_publisher.h header provided by ROS.
It can be seen by comparing these two classes that publishTransform method has changed from melodic --> noetic:
Apparantly, the removal of tf_prefix is disputed as there is no drop-in replacement functionality in tf2. Using this proposed fix will allow to compile under noetic, but break visualization in rviz.
Currently, this package is unavailable to compile under
ros noeticand thusUbuntu 20.04 focal. Error when building usingcatkin buildindicate problems withtf_prefix, a relic fromtfdeprecated sincemelodic.This PR proposes to drop the
tf_prefixfrom theurdf_visualizer.h, which calls to therobot_state_publisher.hheader provided by ROS.It can be seen by comparing these two classes that
publishTransformmethod has changed from melodic --> noetic:http://docs.ros.org/en/melodic/api/robot_state_publisher/html/classrobot__state__publisher_1_1RobotStatePublisher.html http://docs.ros.org/en/noetic/api/robot_state_publisher/html/classrobot__state__publisher_1_1RobotStatePublisher.html
Edit: related https://github.com/ros/robot_state_publisher/pull/139
Apparantly, the removal of
tf_prefixis disputed as there is no drop-in replacement functionality intf2. Using this proposed fix will allow to compile under noetic, but break visualization in rviz.