Why does world frame get TF prefix?
Hello I am working with two UR5, I made them launch using <group ns="robot1">
and <group ns="robot2">
. I also gave a unique tf_prefix to each robot within the group namespace tag i.e. <param name="tf_prefix" value="robot1_tf" />
and <param name="tf_prefix" value="robot2_tf" />
. After running the launch file what I notice in the rqt_tf_tree
is that the "world frame" also gets a namespace i.e. robot1_tf/world
followed by robot1_tf/baselink
and all the other joints of robot1 ............... And then robot2_tf/world
and then robot2_tf/base_link
and all the other joints of robot2.
But what I want is world frame (without having any namespaces) connecting to robot1_tf/baselink
followed by all the joints of robot1............... and also to robot2_tf/baselink
followed by all the joints of robot2.............
How do I avoid the world frame to have any namespaces???
Have you solved the problem? I am in the same predicament. Can you help me? Please tell me the solution
yes i did, basically what I did that I created two tf_broadcaster for each of the tf frame i.e for. robot1_tf/world and robot2_tf/world and then I mapped both of them to world frame. Have a look below