Drop the leading slashes from the rover odometry frame names (fixes #45) - #49
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Drop the leading slashes from the rover odometry frame names (fixes #45)#49asimonov wants to merge 1 commit into
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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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Fixes #45.
/odom→odomand/base_footprint→base_footprintin the odometry publisher configuration of the lunar pole and curiosity models. ROS 2 tf2 frame ids must not start with a slash; the demos'odom_tf_publishernodes copy the names from the odometry message into/tf, so the transform went out as/odom→/base_footprintand only resolved because tf2 strips the slashes on the way in.Nothing consumes the slashed names on purpose: the demos'
odom_tf_publishernodes copy whatever the message carries, and the demo READMEs refer toodomandbase_footprint. The Jazzycuriosity_roverandnav2_demodemos ship their own copy of the curiosity model in the demos repository, so they are unaffected either way.Verified on the lunar pole rover (Harmonic, Jazzy demo, GUI run): the odometry message and
/tfcarryodom→base_footprint, andros2 run tf2_ros tf2_echo odom base_linkresolves without the earlier warning.