changes for imu_pipeline to work with tf instead of tf2

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Hi everybody,

I'm using ROS Indigo with Ubuntu 14.04 LTS and trying to implement imu_pipeline to transform IMU messages from one frame to the other frame of my bag file. It doesn't work because my bag file sends /tf transforms, while imu_pipeline is set for geometry2, and I get the error message as follows:

[ERROR] [1531468048.336252403]: IMU Transform failure: Invalid argument "/imu_frame" passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' like:

And this warning message every time my bag file sends a message:

Warning: Invalid argument "/imu_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like: at line 130 in /tmp/binarydeb/ros-indigo-tf2-0.5.15/src/buffer_core.cpp

I would like to modify imu_pipeline to work with tf instead of tf2, but actually I don't know if there are any settings that make imu_pipeline incompatible with geometry. Could somebody tell me?

Additionally, could you anticipate the required changes in imu_pipeline, in case it is compatible with geometry?

Thanks in advance!