In cl-tf we have the same function that ensures the TF frame name is valid before storing and before looking up. As this is a TF1 implementation which is supposed to be relaxed about the "/" issue (according to the corresponding C++ implementation) I suggest the Lisp implementation should also just always strip the slash.
TF implementation in C++ (both TF1 and TF2) is currently stripping the leading slash before storing it: https://github.com/ros/geometry2/blob/indigo-devel/tf2/src/buffer_core.cpp#L210
When looking up TF2 throws an error: https://github.com/ros/geometry2/blob/indigo-devel/tf2/src/buffer_core.cpp#L591 and TF1 strips the leading slash: https://github.com/ros/geometry/blob/indigo-devel/tf/src/tf.cpp#L242
In
cl-tfwe have the same function that ensures the TF frame name is valid before storing and before looking up. As this is a TF1 implementation which is supposed to be relaxed about the "/" issue (according to the corresponding C++ implementation) I suggest the Lisp implementation should also just always strip the slash.