Warnings with base_link in namespace for robot_localization

edit

Thank you! This was exactly what I was looking for. But it seems that my IMU publishes to 'base_link' rather than 'jackalx/base_link'. Do you know where I can change that?

That's likely a parameter in the IMU driver itself. I took a quick look and didn't see where that would be configured. I thought it would be in jackal_base/launch/base.launch (link), but I don't see the publisher of /imu/data_raw there. For simulations, the Jackal uses the IMU from hector_gazebo_plugins ([see jackal_description/urdf/jackal.gazebo])(https://github.com/jackal/jackal/blob/3b07ca0c1cba1856d0774923d28b6790a3fbdd6d/jackal_description/urdf/jackal.gazebo#L10)). Sorry, I can't help more with that.

Yeah, I saw that it was in the jackal.gazebo file, but there seems to be no similar parameter there where I can specify the base_frameID. Thank you for your help anyway. Maybe I can write another node to republish this data to the correct frames

I'm not familiar enough with Jackals to know if they are set up to handle namespaces and/or tf_prefix properly, but this seems like the kind of situation where they would be helpful.

Another (hacky) option would be to use a topic_tools/transform node and manually change the frame_id.

Thanks again, for your help. If I mention a frame ID in the jackal_description/urdf/jackal.gazebo file, it does change the IMU frame ID published messages. Do you have any idea how I can pass that as a parameter to the jackal.gazebo file?

You can use arguments in xacro like this:

<?xml version="1.0"?>
<robot>
  <xacro:arg name="imu_body" default="imu_link" />
  ...
  <gazebo>
    <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
      ...
      <bodyName>$(arg imu_body)</bodyName>
      ...
    </plugin>
  </gazebo>
  ...
</robot>

Then you can use it in a launch file like this:

<param name="robot_description" command="$(find xacro)/xacro path/to/model.urdf.xacro imu_body:=different_link" />

I didn't actually try this with the Jackal code, so there may be some extra steps (e.g., propagating the argument through includes if necessary). Note that you could implement different_link as an argument from the launch file, too.