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How to substitute TF2 prefix

asked 2015-10-29 09:26:19 -0500

updated 2015-10-29 09:43:24 -0500


I have seen that tf_prefix support is deprecated in TF2. What is the proper way now of having the same functionality? That is, I have two robots, robot1 and robot2, and I want the TF frames to append these names to their corresponding base_links. How should I properly do it?

EDIT: Also, what is the meaning then of the tf_prefix parameter of the robot_state_publisher node? Is that the way to proceed with all the other nodes using TF frames (parameters and manually concatenating in the nodes)?

Thank you!

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answered 2015-10-29 15:47:57 -0500

joq gravatar image

updated 2015-10-29 15:49:52 -0500

Despite the deprecation warning, tf_prefix still works and there is still no alternative solution.

My guess is that ROS 1 will continue to support tf_prefix indefinitely, but we should ask for an opinion from @tfoote about that.

The deprecation may happen in ROS 2, but it is still too early in that design cycle to tell.

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Thanks for the answer. For completeness: tf2 migration pageHowever tf will continue to be supported for through at least J Turtle. Actually I do not get any warning, is just me trying to do things correctly.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-10-30 03:50:43 -0500 )edit

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Asked: 2015-10-29 09:26:19 -0500

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Last updated: Oct 29 '15