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> -- GitLab