[ros-users] non-fully-qualified frame_id

Jack O'Quin jack.oquin at gmail.com
Fri Apr 2 17:16:59 UTC 2010

On Fri, Apr 2, 2010 at 11:02 AM, Josh Faust <jfaust at willowgarage.com> wrote:
>> 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.
> The transform broadcaster is supposed to be resolving with the tf_prefix
> automatically -- if it's not that's likely a bug.

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?

I am still confused about this stuff.

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