TF issue in the launch file generated from gazebo_wizard

[Suptree]

Hello, I've been conducting research using Hero2.0. It's an invaluable tool, and I'm very grateful for it.

Issue Overview:

I have concerns regarding the TF description in the launch file generated based on the wizard screen initiated by the roslaunch hero_gazebo gazebo_wizard.launch command. While the Gazebo simulator operates without any problems, an error arises when attempting to display in rviz.

What I Checked:

To investigate the TF relationships, I executed the following command:
$ rosrun tf2_tools view_frames.py
From this, I was able to observe the following TF relationships:

not_fixed_tf.pdf

Is this the intended behavior?

My Modification and Proposal:

I made changes to wizard_script.py and corrected the launch file. As a result, the TF relationships were as follows:

fixed_tf.pdf

With this modification, HeRo was successfully displayed in rviz.

If the aforementioned TF relationships weren't intended, I would like to submit my modification as a pull request.

Thank you for your consideration.

[rezeck]

Hello @Suptree ,

Thank you for reaching out. I am thrilled to hear that you find it useful for your research.

Regarding the concerns you've raised about the TF description in the launch file generated by the wizard screen, I appreciate your thorough investigation and the detailed information you've provided.

The corrected TF relationships are the ones shared in "fixed_tf.pdf". This error may be due to rule changes in tf-prefix between ros noetic and melodic distros. As I have been using the physical platform more, I ended up not seeing this in the simulation.

Anyway, your willingness to contribute by submitting a pull request is greatly welcomed.

Once again, I truly appreciate your feedback, and if you have any further questions or suggestions, please don't hesitate to let me know.

Thank you for contributing to this project!

Regards,
Rezeck

[Suptree]

Thank you for your response, @rezeck.

I appreciate you identifying the issue related to different ROS distros.
I've branched off from the noetic-devel branch to make the necessary changes.
I've submitted a pull request for your review.
Thank you for your consideration.

Regards,
Suptree