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…os#45). ROS 2 tf2 frame ids must not start with a slash. The demos' odom_tf_publisher nodes copy the frame names from the odometry message into /tf, so the transform went out as /odom -> /base_footprint and only resolved because tf2 strips the slashes on the way in. Both the lunar pole and curiosity models are changed; nothing consumes the slashed names on purpose.
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@ivanperez-keera, can we merge this one to complete lunar_pole_rover work? |
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Fixes #45.
Renames
/odom→odomand/base_footprint→base_footprintin the lunar pole and curiosity models. ROS 2 tf2 frame ids must not start with a slash; the slashed names only resolved because tf2 strips them.Verified on the lunar pole rover (Harmonic, Jazzy, GUI):
/tfcarriesodom→base_footprintandtf2_echo odom base_linkresolves without the warning.