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osrf / rvizweb

RVizWeb: RViz on the browser
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robot model prefix support #7

Closed athackst closed 5 years ago

athackst commented 5 years ago

We use the "prefix" option in robot_state_publisher to disambiguate multiples. The QT RViz has a "TF Prefix" parameter that is used to read in a prefixed TF tree. Would it be possible to add that here?

athackst commented 5 years ago

I think you misunderstood.

It's the robot model plugin that needs the TF prefix, not the TF component. The URDF is not prefixed, but our TFs have a published prefix from robot_state_publisher

screen shot 2018-12-17 at 5 49 35 pm
jubeira commented 5 years ago

Sorry for the misunderstanding; now I see it! I'll send a PR soon with the patch.

chapulina commented 5 years ago

Is this the TF prefix that has been deprecated since Hydro? It was my understanding that its use has been discouraged for many years now.

athackst commented 5 years ago

No, this is the tf_prefix associated with the robot_state_publisher http://wiki.ros.org/robot_state_publisher and therefore has a supporting tf_prefix in the robot_model display in rviz.

chapulina commented 5 years ago

If it's really something else, the terms are very confusing. On the robot_state_publisher link there's a link to tf_prefixes which leads to this TF page: http://wiki.ros.org/tf/Theory. The page doesn't mention deprecations, but it could just be very outdated.

In any case, I was mainly curious, since we've removed all support for tf_prefix from gazebo_ros_pkgs when porting to ROS2. If RViz currently supports tf_prefix, I think it makes sense for RvizWeb to support it as well, for completeness.