consistent handling of tf_prefix for all frames

ros-perception / slam_gmapping

http://www.ros.org/wiki/slam_gmapping

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consistent handling of tf_prefix for all frames #43

Open dcconner opened 7 years ago

dcconner commented 7 years ago

The fix to issue #2 only impacts the published map frame, and does not handle tf_prefix for other frames consistently.

This change handles all frames consistently.

vrabaud commented 7 years ago

Any way you could try out https://github.com/ros-perception/slam_gmapping/pull/31 to see if it works for you? In which case we would drop this PR.

dcconner commented 7 years ago

My understanding is that tf2 drops support for tf_prefix.

Do I just set the tf_prefix as part of the frame ID in parameters to use this?

Can you point me to an official discussion of how name spaces and frame ID's should be handled under tf2? What I've read seems to say we are dropping support because of inconsistent use, but I haven't seen a discussion of how to handle multiple robots with same URDF without tf_prefix.

It will be a while before I can test this fix.

k-okada commented 3 years ago

@dcconner could you write test code for this? and also could you rebase to melodic-devel? thanks in advance.