Launch setup using tf_prefix broken in hydro
We used a launch setup like this in groovy:
<node name="ghost_robot_publisher" pkg="robot_state_publisher" type="state_publisher" respawn="true">
<remap from="robot_description" to="ghost_robot_description" />
<remap from="joint_states" to="/ghost_robot/joint_states" />
<param name="tf_prefix" value="/ghost_robot_model"/>
</node>
This worked flawlessly in groovy, providing a second robot model in tf, under the "/ghost_robot_model" namespace using the tf_prefix mechanism. With the dropped support of tf_prefix in hydro, everything starts as expected, but unfortunately, the tf data published does not use the namespace anymore, which means that both "normal" and "ghost" robot tf data are published to "normal" tf, resulting in a robot model twitching around as the tf data from both models are fighting each other.
What is the (or a) workaround for this?
tf_prefix support was dropped in hydro? That doesn't sound good. How are multi-robot applications supposed to work?
Just checked this: http://wiki.ros.org/hydro/Migration#tf2.2BAC8-Migration.Removal_of_support_for_tf_prefix Can you just remove the '/' before the prefix? When you check the raw tf messages and the frame_ids aren't prefixed, I'd assume it's a bug, where robot_state_publisher doesn't call tf::resolve
Tried without '/' before prefix, still does not work. Guess I´m gonna open a ticket for robot_state_publisher, unless someone else chimes in in the next hours.