FW: [amor-ros-pkg/rosaria] Remove deprecated tf_prefix. Add parameters for all frame_ids. (#50)

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Reed Hedges

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Dec 20, 2016, 2:59:55 PM12/20/16

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Thanks Damjan for noticing this. Will this affect anyone if we make this change?

I think the end result for users is that by default rosaria would use “odom”, “base_link”, “bumpers” and “sonar” as the tf names but you could rename them via parameters to the node, is this correct? (Previously I think there would be a “/rosaria” prefix, but the tf API made specifying this prefix generally optional? Correct me if I’m misremembering this.)

The main reasons to use the prefix or rename the tf frame ids is if you are running multiple robots within the same master, or some non-mobile-robot node you were using happened to use one of the tf names used by rosaria for some reason (unlikely but technically possible.) So the solution now would be to use the node parameters to specify the frame ids if this happens to you.

From: Damjan Miklic [mailto:notifi...@github.com]
Sent: Tuesday, December 20, 2016 11:55 AM
To: amor-ros-pkg/rosaria
Cc: Reed Hedges; Mention
Subject: [amor-ros-pkg/rosaria] Remove deprecated tf_prefix. Add parameters for all frame_ids. (#50)

tf prefix has been [deprecated(http://wiki.ros.org/tf2/Migration#Removal_of_support_for_tf_prefix). This PR removes it. The ability to specify frame_ids has been restored by adding specific parameters for each tf frame used by rosaria. @reed-adept please review and merge.

You can view, comment on, or merge this pull request online at:

https://github.com/amor-ros-pkg/rosaria/pull/50

Commit Summary

Remove deprecated tf_prefix. Add parameters for all frame_ids.

File Changes

M RosAria.cpp (21)

Patch Links:

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