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How to apply a namespace to the tf topic?

asked 2020-05-07 10:54:33 -0600

Saduras gravatar image

I'm trying to set up two instances of the same robot arm. Both are supposed to be controlled by their own MoveIt move_group. I quickly managed to run all relevant nodes within a namespace per arm. However, the topic /tf remains outside of both namespaces. I suspect that is the reason, why my move_group ends up controlling both arms at the same time.

I came across tf_prefix(http://wiki.ros.org/geometry/Coordina...) which sounds like it would do exactly what I need. However, I could not figure out how to use it. Setting it as a ros param didn't do anything. Is that a MoveIt related issue?

Below see the rqt_graph of my current situation. You can clearly see the box for /tf outside of the /arm1 namespace. image description

How can I resolve this?

Thanks!

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I would run the rosrun tf view_frames command and look at the pdf to check how everything is hooked up in your transform tree.

Ganach9 gravatar image Ganach9  ( 2020-05-07 14:06:07 -0600 )edit

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answered 2020-05-09 05:49:01 -0600

Saduras gravatar image

Thanks Gancha9 the command rosrun tf view_frames helped me to understand the tf situation better. It turns out that tf_prefix actually worked the way I used it (see frames below). I suppose that solves the question I asked and my actual issue is caused by something else.

image description

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Asked: 2020-05-07 10:54:33 -0600

Seen: 316 times

Last updated: May 09 '20