From 08061f6c0a94b71bc782f6a80f598e7545c246f5 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 27 Jul 2020 14:27:24 +0200
Subject: [PATCH] Removed the / from the tf_prefix.

---
 config/bno055_imu_sim_config.yaml              | 2 +-
 config/microstrain_3dm_gx3_imu_sim_config.yaml | 2 +-
 config/mpu9250_imu_sim_config.yaml             | 2 +-
 launch/bno055_imu_sim.launch                   | 2 +-
 launch/microstrain_imu_sim.launch              | 2 +-
 launch/mpu9250_imu_sim.launch                  | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/config/bno055_imu_sim_config.yaml b/config/bno055_imu_sim_config.yaml
index 9975602..5eec3c6 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 e7ea592..0f7b963 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 38aef69..cd093fe 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 648101b..20d187e 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 34c3b8b..37ec2c4 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 226f823..488c540 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>
   
-- 
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