TF name will start '/' when using multi robot configuration due to invalid specification of mapName() function for frame_id
sktometometo opened this issue · 3 comments
I am using stage_ros with move_base_multi_robot.launch in navigation_tutorials. The launch file does not work properly since tf configuration is invalid.
One of the invalid tf configuration is that frame_id fields of messsages published from stage_ros start with '/' when using multi-robot configuration. ( this is already reported in #68 )
This issue seems comes from mapName() function according to
Lines 478 to 481 in c3abc19
And seeing
Lines 172 to 227 in c3abc19
positionmodels
is lager than 1, frame_id is resolved as like /robot_0/base_laser_link
.
This specification is valid for topicnames. But for frame_id, this is invalid.
I have fixed this bug in a branch. have tested it on Melodic. Please have a look if anybody is still facing this issue
stage_ros
@imranlivt your pull request has helped me to solve this issue when it arose from porting from melodic to noetic.
This is the error that was printed on the console when I tried to subscribe /robot_0/base_pose_ground_truth
from the /map
frame in RViz:
Error transforming pose 'Pose' from frame '/robot_0/odom' to frame 'map'
Thank you very much!.