Ask Your Question
3

How to substitute TF2 prefix

asked 2015-10-29 09:26:19 -0600

updated 2015-10-29 09:43:24 -0600

Hi,

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!

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
2

answered 2015-10-29 15:47:57 -0600

joq gravatar image

updated 2015-10-29 15:49:52 -0600

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.

edit flag offensive delete link more

Comments

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 imageJavier V. Gómez ( 2015-10-30 03:50:43 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-10-29 09:26:19 -0600

Seen: 419 times

Last updated: Oct 29 '15