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Why does world frame get TF prefix?

asked 2019-10-05 11:38:55 -0500

mkb_10062949 gravatar image

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???

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answered 2019-10-07 02:27:57 -0500

gvdhoorn gravatar image

Why does world frame get TF prefix?

Because there is a world frame in the ur5_robot.urdf.xacro file, which most likely gets loaded in both of your groups.

See here. This is also a known issue with these .xacros: ros-industrial/universal_robot#284.

The world frame is not an automatically added frame, it's something that either you, or one of the .xacros that you're loading needs to add.

In fact, it's not even a special frame: it's just a regular TF frame that happens to have a name you/we recognise as being something 'special'.

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Asked: 2019-10-05 11:38:55 -0500

Seen: 111 times

Last updated: Oct 07