Added support for tf_prefix

ubi-agni / tactile_toolbox

software to handle tactile sensors in ROS

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Added support for tf_prefix #39

Open guihomework opened 1 year ago

guihomework commented 1 year ago

In case a producer of TactileContacts has its transforms in a TF subtree due to a tf_prefix in (for instance when 2 hand models are loaded in a namespace with each a different tf_prefix as in https://github.com/ubi-agni/human_hand/blob/master/launch/two_gloves.launch ), the frame_id of the TactileContacts must also contain this tf_prefix to enable transforms to be resolved in tactile_pcl . This PR adds the possibility to set a tf_prefix

guihomework commented 1 year ago

This code was tested in our branch that already had the #32 PR merged. The current PR on top of melodic-devel (without PR #32) was not tested in a pipeline.