Default arguments in openni2.launch lead to (invalid) frame id starting with "/"

ros-drivers / openni2_launch

Launch files to open an OpenNI2 device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

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Default arguments in openni2.launch lead to (invalid) frame id starting with "/" #19

Closed stwirth closed 9 years ago

stwirth commented 10 years ago

If no args are given here: https://github.com/ros-drivers/openni2_launch/blob/hydro-devel/launch/openni2.launch#L7-L9 the frame ids are /camera_rgb_optical_frame and /camera_depth_optical_frame, both starting with a "/".

Using that with tf2 throws an exception saying frame ids should not start with "/".

javanegmond commented 9 years ago

This actually led me to propose (and implement) an $(empty arg) substitution command for roslaunch: https://github.com/ros/ros_comm/issues/539 This would allow for a very simple solution to this issue.

mikeferguson commented 9 years ago

I've run into this a number of times over the past couple of weeks -- I reverted #16, and added a separate openni2_tf_prefix.launch file for anyone who needs tf_prefix support.