From bff24ce9fe6e25bfc65f3fa63b19996e6acd8971 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 14 Jul 2020 17:22:53 +0200
Subject: [PATCH] TF2 dose not support frame names starting with /.

---
 params/costmap/3d_common_params.yaml | 14 +++++++-------
 params/costmap/common_params.yaml    |  6 +++---
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/params/costmap/3d_common_params.yaml b/params/costmap/3d_common_params.yaml
index 162831e..256a3fb 100755
--- a/params/costmap/3d_common_params.yaml
+++ b/params/costmap/3d_common_params.yaml
@@ -5,7 +5,7 @@ footprint_padding: 0.01
 footprint_topic: /ana/footprint
 published_footprint_topic: false
 
-robot_base_frame: /ana/base_footprint
+robot_base_frame: ana/base_footprint
 track_unknown_space: false
 always_send_full_costmap: false
 transform_tolerance: 1.0
@@ -24,7 +24,7 @@ obstacle_layer_lidar:
   combination_method: 1 
   observation_sources:  lidar_marking
   lidar_marking: {
-    sensor_frame: /ana/base_footprint,
+    sensor_frame: ana/base_footprint,
     data_type: LaserScan,
     topic: /ana/lidar_detector/scan_out,
     observation_persistence: 0.0,
@@ -47,7 +47,7 @@ obstacle_layer_camera:
   observation_sources:  camera_marking
 
   camera_marking: {
-    sensor_frame: /ana/base_footprint,
+    sensor_frame: ana/base_footprint,
     data_type: PointCloud,
     topic: /ana/obstacle_detection_normals/obstacles,
     observation_persistence: 0.0,
@@ -70,7 +70,7 @@ hole_layer_near_camera:
   observation_sources: hole_near_marking hole_near_clearing
 
   hole_near_marking: {
-    sensor_frame: /ana/base_footprint,
+    sensor_frame: ana/base_footprint,
     data_type: PointCloud2,
     topic: /ana/near_hole_detection/hole_obstacle,
     observation_persistence: 0.0,
@@ -84,7 +84,7 @@ hole_layer_near_camera:
   }
 
   hole_near_clearing: {
-    sensor_frame: /ana/base_footprint,
+    sensor_frame: ana/base_footprint,
     data_type: PointCloud2,
     topic: /ana/near_hole_detection/hole_zone,
     observation_persistence: 0.0,
@@ -107,7 +107,7 @@ hole_layer_far_camera:
   observation_sources: hole_far_marking hole_far_clearing
 
   hole_far_marking: {
-    sensor_frame: /ana/base_footprint,
+    sensor_frame: ana/base_footprint,
     data_type: PointCloud2,
     topic: /ana/far_hole_detection/hole_obstacle,
     observation_persistence: 0.0,
@@ -121,7 +121,7 @@ hole_layer_far_camera:
   }
 
   hole_far_clearing: {
-    sensor_frame: /ana/base_footprint,
+    sensor_frame: ana/base_footprint,
     data_type: PointCloud2,
     topic: /ana/far_hole_detection/hole_zone,
     observation_persistence: 0.0,
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index eca7edb..3e7471d 100755
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -7,7 +7,7 @@ footprint_padding: 0.01
 footprint_topic: /ana/footprint
 published_footprint_topic: false
 
-robot_base_frame: /ana/base_footprint
+robot_base_frame: ana/base_footprint
 track_unknown_space: false
 always_send_full_costmap: false
 transform_tolerance: 1.0
@@ -27,7 +27,7 @@ obstacle_layer:
   observation_sources: velodyne #depth_cam
 
   velodyne:  {
-    sensor_frame: /ana/velodyne,
+    sensor_frame: ana/velodyne,
     data_type: PointCloud2,
     topic: /ana/sensors/velodyne_points,
     observation_persistence: 0.0,
@@ -41,7 +41,7 @@ obstacle_layer:
   }
 
   depth_cam:  {
-    sensor_frame: /ana/camera_color_optical_frame,
+    sensor_frame: ana/camera_color_optical_frame,
     data_type: PointCloud2,
     topic: /ana/sensors/nav_cam/depth_registered/points,
     observation_persistence: 0.0,
-- 
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