consistent handling of tf_prefix for all frames #43
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Any way you could try out #31 to see if it works for you? |
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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. |
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@dcconner could you write test code for this? and also could you rebase to |
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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.