On Fri, Apr 2, 2010 at 11:42 AM, Josh Faust <jfaust@willowgarage.com> wrote:
>
>>
>> The fake_localization package sets the frame ID this way:
>>
>>         private_nh.param("odom_frame_id", odom_frame_id_,
>> std::string("odom"));
>>
>> Is that correct, or should the default be "/odom" instead?
>
> It's correct.  If it were /odom, tf_prefix would not work (since it would
> assume /odom was already resolved to be global).
> The TransformBroadcaster appears to be doing the right thing
> (fake_localization broadcasts /odom -> /base_footprint).
>
> The 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.
>
> is actually from receiving a message through a tf::MessageFilter, where the
> messages' header.stamp was not resolved with TransformListener::resolve().

fake_localization does not appear to be using TransformListener::resolve().
-- 
 joq