Depending on the value of the frame set in the local_xy_util (either through a "/local_xy_origin" message or a parameter), the UtmTransformer will not initialize. This was an issue when trying to set a frame_id with a leading "/". The tf2 buffer core code seems to be pretty consistent on removing leading slashes
I think this can be resolved with:
Adding an else statement with a RCLCPP_ERROR stating the frame was not in the tf buffer. Possibly printing all available frame.
Remove any leading slash in the Handle Origin function for the LocalXyWgs84Util class. I believe this change is fine, since it seems like we assume that the frame_id is in the tf tree (which requires no leading slash).
Depending on the value of the frame set in the local_xy_util (either through a "/local_xy_origin" message or a parameter), the UtmTransformer will not initialize. This was an issue when trying to set a frame_id with a leading "/". The tf2 buffer core code seems to be pretty consistent on removing leading slashes
I think this can be resolved with: