diff --git a/config/bno055_imu_sim_config.yaml b/config/bno055_imu_sim_config.yaml index 997560290c3969171a5e2a9b50eaa22e86f3a2f4..5eec3c617fc5c387b2ce52465b71d8ca48d91dc4 100644 --- a/config/bno055_imu_sim_config.yaml +++ b/config/bno055_imu_sim_config.yaml @@ -1,6 +1,6 @@ rate: 100.0 namespace: '/imu' -tf_prefix: '/bno055' +tf_prefix: 'bno055' imu_topic: 'imu' accel_offset_x: 0.08 accel_offset_y: 0.08 diff --git a/config/microstrain_3dm_gx3_imu_sim_config.yaml b/config/microstrain_3dm_gx3_imu_sim_config.yaml index e7ea59231fec9fc11dff691a2a3779c5fdf6073a..0f7b963f5bf9d4ce57fee80ad593fbe241ed98a3 100644 --- a/config/microstrain_3dm_gx3_imu_sim_config.yaml +++ b/config/microstrain_3dm_gx3_imu_sim_config.yaml @@ -1,6 +1,6 @@ rate: 100.0 namespace: '/' -tf_prefix: '/' +tf_prefix: '' imu_topic: 'imu' accel_offset_x: 0.002 accel_offset_y: 0.002 diff --git a/config/mpu9250_imu_sim_config.yaml b/config/mpu9250_imu_sim_config.yaml index 38aef696f269ba39fba9be1658b0b8f94b45f4b1..cd093fe5df2fbd87b6260e7f1ea608c312f250a4 100644 --- a/config/mpu9250_imu_sim_config.yaml +++ b/config/mpu9250_imu_sim_config.yaml @@ -1,6 +1,6 @@ rate: 100.0 namespace: '/imu' -tf_prefix: '/mpu9250' +tf_prefix: 'mpu9250' imu_topic: 'imu' accel_offset_x: 0.06 accel_offset_y: 0.06 diff --git a/launch/bno055_imu_sim.launch b/launch/bno055_imu_sim.launch index 648101b73fb0dbb840fa601daf375f1a7d8daa5a..20d187e98b2db9987c1874500159e0dd605f0242 100644 --- a/launch/bno055_imu_sim.launch +++ b/launch/bno055_imu_sim.launch @@ -23,7 +23,7 @@ command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster"> - <param name="tf_prefix" type="string" value="/bno055"/> + <param name="tf_prefix" type="string" value="bno055"/> <param name="publish_frequency" type="double" value="20.0"/> </node> diff --git a/launch/microstrain_imu_sim.launch b/launch/microstrain_imu_sim.launch index 34c3b8b945bbefd24bb6b124b72650f2cb877b09..37ec2c45ebc32d98af8a7f881bdbf8b62493ea86 100644 --- a/launch/microstrain_imu_sim.launch +++ b/launch/microstrain_imu_sim.launch @@ -22,7 +22,7 @@ command="$(find xacro)/xacro --inorder '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="microstrain_tf_broadcaster"> - <param name="tf_prefix" type="string" value="/microstrain"/> + <param name="tf_prefix" type="string" value="microstrain"/> <param name="publish_frequency" type="double" value="20.0"/> </node> diff --git a/launch/mpu9250_imu_sim.launch b/launch/mpu9250_imu_sim.launch index 226f823585931d1f08516d46bb27b0e128b2be65..488c54040b510f2333a8cdb64b69b6ea32499f42 100644 --- a/launch/mpu9250_imu_sim.launch +++ b/launch/mpu9250_imu_sim.launch @@ -23,7 +23,7 @@ command="$(find xacro)/xacro --inorder '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="mpu9250_tf_broadcaster"> - <param name="tf_prefix" type="string" value="/mpu9250"/> + <param name="tf_prefix" type="string" value="mpu9250"/> <param name="publish_frequency" type="double" value="20.0"/> </node>