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ros-drivers / rgbd_launch

Launchfiles for use with depth cameras.
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naming of camera frames not inuitive #37

Open achim-k opened 7 years ago

achim-k commented 7 years ago

When having multiple cameras e.g. camera and camera2 I would expect the corresponding camera base frames to be camera/camera_link and camera2/camera_link. But instead, camera frames are generated as

$(arg tf_prefix)/$(arg camera)_XXX

which results in camera/camera_link and camera2/camera2_link. IMO, camera frames should be generated like the following, as this is more intuitive. In other words, only the tf_prefix should be taken into account when generating frame names.

$(arg tf_prefix)/camera_XXX
130s commented 5 years ago

Sounds reasonable to me, although I can't think of backward compatible solution.