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robotology / cer-sim

Official URDF and SDF models of the R1 humanoid robot.
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Laser frame inside gazebo_cer_doublelaser.ini #24

Closed morpheus1820 closed 3 years ago

morpheus1820 commented 3 years ago

move_base complains about having a slash inside a frame name.

frame_id /mobile_base_double_lidar should probably be frame_id mobile_base_double_lidar inside cer-sim/gazebo/cer/conf/gazebo_cer_doublelaser.ini (line 16). Same for cer-sim/gazebo/cer/conf/gazebo_cer_laser_sensor.ini, cer-sim/gazebo/cer/conf/gazebo_cer_laser_sensor2.ini

DatSpace commented 3 years ago

I can confirm this as well. Removing the / (slash) solves it for all three files.

ROS spams an error about this until manually fixed.

Screenshot from 2021-01-15 12-54-20

randaz81 commented 3 years ago

I haven't found a specific guideline on the name conventions, but I think that this happens because now ROS is using TF2 instead of TF. I'm going to commit a fix.

randaz81 commented 3 years ago

fixed by 3101000c7f786b6e72424110943b306eb187fb05

morpheus1820 commented 3 years ago

I haven't found a specific guideline on the name conventions, but I think that this happens because now ROS is using TF2 instead of TF.

I think that was the reason, but I think it is safe to switch to tf2.