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On 04/01/2010 03:18 PM, Antons Rebguns wrote:
> Folks,
> 
> I am getting this warning:
> 
> [ WARN] [14.657000000]: Message from [/gazebo_1270159292170067578] has a non-fully-qualified frame_id [base_footprint].
> Resolved locally to [/base_footprint].  This is will likely not work in multi-robot systems.  This message will only
> print once.
> 
> Which I did not care about before, since I had just one robot in simulation. But now I need two or more and it does not
> work indeed.
> 
> This is the line of code that sends the transform (from gazebo_ros_diffdrive):
> 
> transform_broadcaster_.sendTransform(tf::StampedTransform(base_link_to_odom,ros::Time::now(), "odom", "base_footprint"));
> 
> Can anybody explain what this warning means how would I go about fixing it? I couldn't find anything on the wiki that
> mentions this.
> 
> Thanks,
> Anton

Ok, I think I made some progress on this problem. I guess overlooked the tf_prefix thing somehow. It looks like both
fake_localization and gazebo_ros_diffdrive are not setup to use tf_prefix for their broadcasted transforms (odom and
base_footprint respectively). So I did modify them to use tf_prefix and looking at tf topic I see that everything is as
expected and I also don't get the warning about non-fully-qualified frame_ids.

But then in rviz the robot_model can't be shown, since rviz tries to get transforms for frames that are taken from
robot_description parameter on param server and these are not prefixed. Is there something I am doing wrong?

Thanks!
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