ROS2 Dashing tf ignores namespace
joe28965 opened this issue · 5 comments
Normally in ROS Dashing you can parse the argument __ns:=/namespace to add namespaces to the topics when they're created. If you try this for the robot_state_publisher, the topic of tf remains /tf instead of /namespace/tf. The name of the node and the other topics do use the namespace given to them, but tf ignores this. I was wondering if others have noticed this same issue, and why this is.
I currently have the same problem. I want to run multiple robots (in namespaces, or using tf-prefix which is deprecated according to #125 ). I really do not know how I should design the system using the new ros2 ecosystem.
I ended up switching to eloquent myself
I use foxy, now I am really confused ;) But I just remapped the /tf and the /tf_static topic to the namespace and it is working (for now).
I use foxy, now I am really confused ;) But I just remapped the /tf and the /tf_static topic to the namespace and it is working (for now).
The way that this works is that /tf and /tf_static are global topics, meaning that they ignore namespaces. However, you can always remap topics, even global ones. So it is perfect fine to remap them by hand, and that will continue to work in the future.
/tf and /tf_static are global topics, meaning they don't get namespaced. To remap them, use the rules /tf:=/namespace/tf and /tf_static:=/namespace/tf_static. See the ROS 2 remapping design doc for more info. I'll close this since it doesn't appear to be an issue with robot_state_publisher.
If you're looking for an alternative to the tf_prefix behavior, please see #125 for a ROS 2 ticket.