remove trailing slashes from frame names. Multiple robot/obstacle setup with stage not yet working. See ros-simulation/stage_ros#40

croesmann · croesmann · commit 8793c53bb06e · 2018-08-07T14:27:11.000+02:00
diff --git a/cfg/amcl_params.yaml b/cfg/amcl_params.yaml
@@ -2,7 +2,7 @@ use_map_topic: true
 
 odom_frame_id: "odom"
 base_frame_id: "base_footprint"
-global_frame_id: "/map"
+global_frame_id: "map"
 
 ## Publish scans from best pose at a max of 10 Hz
 odom_model_type: "diff"
diff --git a/cfg/carlike/costmap_common_params.yaml b/cfg/carlike/costmap_common_params.yaml
@@ -27,4 +27,4 @@ inflation_layer:
 
 static_layer:
   enabled:              true
-  map_topic:            "/map"
+  map_topic:            "map"
diff --git a/cfg/carlike/global_costmap_params.yaml b/cfg/carlike/global_costmap_params.yaml
@@ -1,5 +1,5 @@
 global_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_link
   update_frequency: 1.0
   publish_frequency: 0.5
diff --git a/cfg/carlike/local_costmap_params.yaml b/cfg/carlike/local_costmap_params.yaml
@@ -1,5 +1,5 @@
 local_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 2.0
diff --git a/cfg/diff_drive/costmap_common_params.yaml b/cfg/diff_drive/costmap_common_params.yaml
@@ -4,6 +4,9 @@
 robot_radius: 0.17
 footprint_padding: 0.00
 
+global_frame: map
+robot_base_frame: robot_0/base_link
+
 transform_tolerance: 0.2
 map_type: costmap
 
@@ -28,4 +31,4 @@ inflation_layer:
 
 static_layer:
   enabled:              true
-  map_topic:            "/map"
+  map_topic:            map
diff --git a/cfg/diff_drive/dyn_obst/local_costmap_params.yaml b/cfg/diff_drive/dyn_obst/local_costmap_params.yaml
@@ -1,6 +1,4 @@
 local_costmap:
-  global_frame: /map
-  robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
   static_map: false
diff --git a/cfg/diff_drive/global_costmap_params.yaml b/cfg/diff_drive/global_costmap_params.yaml
@@ -1,6 +1,4 @@
 global_costmap:
-  global_frame: /map
-  robot_base_frame: base_link
   update_frequency: 1.0
   publish_frequency: 0.5
   static_map: true
diff --git a/cfg/diff_drive/local_costmap_params.yaml b/cfg/diff_drive/local_costmap_params.yaml
@@ -1,6 +1,4 @@
 local_costmap:
-  global_frame: /map
-  robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: false
diff --git a/cfg/omnidir/costmap_common_params.yaml b/cfg/omnidir/costmap_common_params.yaml
@@ -26,4 +26,4 @@ inflation_layer:
 
 static_layer:
   enabled:              true
-  map_topic:            "/map"
+  map_topic:            "map"
diff --git a/cfg/omnidir/global_costmap_params.yaml b/cfg/omnidir/global_costmap_params.yaml
@@ -1,5 +1,5 @@
 global_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_link
   update_frequency: 1.0
   publish_frequency: 0.5
diff --git a/cfg/omnidir/local_costmap_params.yaml b/cfg/omnidir/local_costmap_params.yaml
@@ -1,5 +1,5 @@
 local_costmap:
-  global_frame: /map
+  global_frame: map
   robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 2.0
diff --git a/launch/dyn_obst_corridor_scenario.launch b/launch/dyn_obst_corridor_scenario.launch
@@ -20,7 +20,7 @@
     <!-- work around for footprint reload -->
   	<rosparam command="delete" ns="move_base" />
 
-    <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="2 3 0 0 0 0 1 /map /robot_0/odom 100" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="2 3 0 0 0 0 1 map robot_0/odom" />
   
     <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
       <rosparam file="$(find teb_local_planner_tutorials)/cfg/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
diff --git a/launch/dyn_obst_costmap_conversion.launch b/launch/dyn_obst_costmap_conversion.launch
@@ -16,12 +16,12 @@
 
   <!-- ******** Localization ********* -->
   <!-- See stage world file for initial poses -->
-  <node pkg="tf" type="static_transform_publisher" name="perfect_loc_robot" args="-2 0 0 -1.570796 0 0 /map robot_0/odom 100" />
-  <node pkg="tf" type="static_transform_publisher" name="perfect_loc_obstacle" args="0 1 0 0 0 0 /map robot_1/odom 100" />
+  <node pkg="tf2_ros" type="static_transform_publisher" name="perfect_loc_robot" args="-2 0 0 -1.570796 0 0 map robot_0/odom" />
+  <node pkg="tf2_ros" type="static_transform_publisher" name="perfect_loc_obstacle" args="0 1 0 0 0 0 map robot_1/odom" />
 
-   <!--  ************* Navigation Ego Robot ************  -->
+  <!--  ************* Navigation Ego Robot ************  -->
   <group ns="robot_0">
-    <param name="tf_prefix" value="robot_0"/>
+    <!--param name="tf_prefix" value="robot_0"/-->
     <!-- work around for footprint reload -->
     <rosparam command="delete" ns="move_base" />
 
diff --git a/launch/robot_carlike_in_stage.launch b/launch/robot_carlike_in_stage.launch
@@ -39,7 +39,7 @@
 
 	<!--  ****** Maps *****  -->
 	<node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/maze.yaml" output="screen">
-		<param name="frame_id" value="/map"/>
+		<param name="frame_id" value="map"/>
 	</node>
 
 	<node pkg="amcl" type="amcl" name="amcl" output="screen">
diff --git a/launch/robot_diff_drive_in_stage.launch b/launch/robot_diff_drive_in_stage.launch
@@ -37,7 +37,7 @@
 
 	<!--  ****** Maps *****  -->
 	<node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/maze.yaml" output="screen">
-		<param name="frame_id" value="/map"/>
+		<param name="frame_id" value="map"/>
 	</node>
 
 	<node pkg="amcl" type="amcl" name="amcl" output="screen">
diff --git a/launch/robot_diff_drive_in_stage_costmap_conversion.launch b/launch/robot_diff_drive_in_stage_costmap_conversion.launch
@@ -40,7 +40,7 @@
 
 	<!--  ****** Maps *****  -->
 	<node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/maze.yaml" output="screen">
-		<param name="frame_id" value="/map"/>
+		<param name="frame_id" value="map"/>
 	</node>
 
 	<node pkg="amcl" type="amcl" name="amcl" output="screen">
diff --git a/launch/robot_omnidir_in_stage.launch b/launch/robot_omnidir_in_stage.launch
@@ -37,7 +37,7 @@
 
 	<!--  ****** Maps *****  -->
 	<node name="map_server" pkg="map_server" type="map_server" args="$(find teb_local_planner_tutorials)/maps/maze.yaml" output="screen">
-		<param name="frame_id" value="/map"/>
+		<param name="frame_id" value="map"/>
 	</node>
 
 	<node pkg="amcl" type="amcl" name="amcl" output="screen">
