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ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo
http://wiki.ros.org/gazebo_ros_pkgs
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Make Melodic and Noetic tf_prefix behavior compatible #1274

Open bjsowa opened 3 years ago

bjsowa commented 3 years ago

I maintain packages for Melodic and Noetic distribution which use the fact that tf frames for Camera plugins are prefixed with robot's namespace. After merging #1143 and #1173 the frames on Noetic are no longer prefixed with the namespace, so I have to add the prefix to frameName parameters. But, doing so, makes the frames double prefixed on Melodic.

I would really prefer not to maintain separate versions of the packages for different distributions, so I would really appreciate if there was an option to use the new behavior on Melodic or some other way to make the code compatible.

kintzhao commented 11 months ago

the same project ( https://github.com/YZH-bot/multi_turtlebot3_navigation) and launch, has different tf_prefix:

melodic = /tb3_2 [ INFO] [1699271126.111498612, 0.005000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1699271126.367119382, 0.171000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_0/' [ INFO] [1699271126.367146412, 0.171000000]: Starting Laser Plugin (ns = /tb3_0/) [ INFO] [1699271126.367589006, 0.171000000]: Laser Plugin (ns = /tb3_0/) , set to "/tb3_0" [ INFO] [1699271126.460272969, 0.171000000]: Starting plugin DiffDrive(ns = /tb3_0//) [ INFO] [1699271126.460342909, 0.171000000]: DiffDrive(ns = /tb3_0//): = na [ INFO] [1699271126.460940404, 0.171000000]: DiffDrive(ns = /tb3_0//): = /tb3_0 [ INFO] [1699271126.461666926, 0.171000000]: DiffDrive(ns = /tb3_0//): Advertise joint_states [ INFO] [1699271126.462239042, 0.171000000]: DiffDrive(ns = /tb3_0//): Try to subscribe to cmd_vel [ INFO] [1699271126.463594362, 0.171000000]: DiffDrive(ns = /tb3_0//): Subscribe to cmd_vel [ INFO] [1699271126.464234441, 0.171000000]: DiffDrive(ns = /tb3_0//): Advertise odom on odom [tb3_0/spawn_urdf-4] process has finished cleanly log file: /root/.ros/log/f9119a9a-7c99-11ee-bc4c-70a8d3041e92/tb3_0-spawn_urdf-4.log [ INFO] [1699271126.736215029, 0.373000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_2/' [ INFO] [1699271126.736237720, 0.373000000]: Starting Laser Plugin (ns = /tb3_2/) [ INFO] [1699271126.736630927, 0.373000000]: Laser Plugin (ns = /tb3_2/) , set to "/tb3_2" [ INFO] [1699271126.736865743, 0.373000000]: Starting plugin DiffDrive(ns = /tb3_2//) [ INFO] [1699271126.736881051, 0.373000000]: DiffDrive(ns = /tb3_2//): = na [ INFO] [1699271126.737290932, 0.373000000]: DiffDrive(ns = /tb3_2//): = /tb3_2 [ INFO] [1699271126.738427561, 0.373000000]: DiffDrive(ns = /tb3_2//): Advertise joint_states [ INFO] [1699271126.738598915, 0.373000000]: DiffDrive(ns = /tb3_2//): Try to subscribe to cmd_vel [ INFO] [1699271126.740768595, 0.373000000]: DiffDrive(ns = /tb3_2//): Subscribe to cmd_vel [ INFO] [1699271126.741374146, 0.373000000]: DiffDrive(ns = /tb3_2//): Advertise odom on odom [ INFO] [1699271126.743033744, 0.375000000]: Physics dynamic reconfigure ready. [ INFO] [1699271127.003148832, 0.568000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_1/' [ INFO] [1699271127.003171934, 0.568000000]: Starting Laser Plugin (ns = /tb3_1/) [ INFO] [1699271127.003827050, 0.568000000]: Laser Plugin (ns = /tb3_1/) , set to "/tb3_1" [tb3_2/spawn_urdf-8] process has finished cleanly log file: /root/.ros/log/f9119a9a-7c99-11ee-bc4c-70a8d3041e92/tb3_2-spawn_urdf-8.log [ INFO] [1699271127.103532818, 0.568000000]: Starting plugin DiffDrive(ns = /tb3_1//) [ INFO] [1699271127.103627446, 0.568000000]: DiffDrive(ns = /tb3_1//): = na [ INFO] [1699271127.104789588, 0.568000000]: DiffDrive(ns = /tb3_1//): = /tb3_1 [ INFO] [1699271127.106056907, 0.568000000]: DiffDrive(ns = /tb3_1//): Advertise joint_states [ INFO] [1699271127.106131218, 0.568000000]: DiffDrive(ns = /tb3_1//): Try to subscribe to cmd_vel [ INFO] [1699271127.109744401, 0.568000000]: DiffDrive(ns = /tb3_1//): Subscribe to cmd_vel [ INFO] [1699271127.110732968, 0.568000000]: DiffDrive(ns = /tb3_1//): Advertise odom on odom

noetic =

[ INFO] [1699271278.211178033]: Finished loading Gazebo ROS API Plugin. [ INFO] [1699271278.211951893]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1699271278.682913794, 0.006000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1699271278.690392282, 0.013000000]: Physics dynamic reconfigure ready. [ INFO] [1699271279.160430519, 0.373000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_0/' [ INFO] [1699271279.160459996, 0.373000000]: Starting Laser Plugin (ns = /tb3_0/) [ INFO] [1699271279.160965646, 0.373000000]: Laser Plugin (ns = /tb3_0/) , set to "" [ INFO] [1699271279.256451029, 0.373000000]: Starting plugin DiffDrive(ns = /tb3_0//) [ INFO] [1699271279.256499367, 0.373000000]: DiffDrive(ns = /tb3_0//): = na [ INFO] [1699271279.257056570, 0.373000000]: DiffDrive(ns = /tb3_0//): = [ INFO] [1699271279.257836492, 0.373000000]: DiffDrive(ns = /tb3_0//): Advertise joint_states [ INFO] [1699271279.258156851, 0.373000000]: DiffDrive(ns = /tb3_0//): Try to subscribe to cmd_vel [ INFO] [1699271279.259073676, 0.373000000]: DiffDrive(ns = /tb3_0//): Subscribe to cmd_vel [ INFO] [1699271279.259296909, 0.373000000]: DiffDrive(ns = /tb3_0//): Advertise odom on odom [ INFO] [1699271279.539584460, 0.575000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_1/' [ INFO] [1699271279.539607944, 0.575000000]: Starting Laser Plugin (ns = /tb3_1/) [ INFO] [1699271279.540136480, 0.575000000]: Laser Plugin (ns = /tb3_1/) , set to "" [ INFO] [1699271279.540372405, 0.575000000]: Starting plugin DiffDrive(ns = /tb3_1//) [ INFO] [1699271279.540386711, 0.575000000]: DiffDrive(ns = /tb3_1//): = na [ INFO] [1699271279.540663841, 0.575000000]: DiffDrive(ns = /tb3_1//): = [ INFO] [1699271279.541259271, 0.575000000]: DiffDrive(ns = /tb3_1//): Advertise joint_states [ INFO] [1699271279.541295346, 0.575000000]: DiffDrive(ns = /tb3_1//): Try to subscribe to cmd_vel [ INFO] [1699271279.541929186, 0.575000000]: DiffDrive(ns = /tb3_1//): Subscribe to cmd_vel [ INFO] [1699271279.542547015, 0.575000000]: DiffDrive(ns = /tb3_1//): Advertise odom on odom [tb3_0/spawn_urdf-4] process has finished cleanly log file: /home/robot/.ros/log/53bfb76a-7c9a-11ee-96e9-4b9ee184865e/tb3_0-spawn_urdf-4*.log [ INFO] [1699271279.821183944, 0.773000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_2/' [ INFO] [1699271279.821206016, 0.773000000]: Starting Laser Plugin (ns = /tb3_2/) [ INFO] [1699271279.821846578, 0.773000000]: Laser Plugin (ns = /tb3_2/) , set to "" [ INFO] [1699271279.921383645, 0.773000000]: Starting plugin DiffDrive(ns = /tb3_2//) [ INFO] [1699271279.921407112, 0.773000000]: DiffDrive(ns = /tb3_2//): = na [ INFO] [1699271279.921758381, 0.773000000]: DiffDrive(ns = /tb3_2//): = [ INFO] [1699271279.922102470, 0.773000000]: DiffDrive(ns = /tb3_2//): Advertise joint_states [ INFO] [1699271279.922116153, 0.773000000]: DiffDrive(ns = /tb3_2//): Try to subscribe to cmd_vel [ INFO] [1699271279.923347946, 0.773000000]: DiffDrive(ns = /tb3_2//): Subscribe to cmd_vel [ INFO] [1699271279.923542897, 0.773000000]: DiffDrive(ns = /tb3_2//): Advertise odom on odom