Add prefix argument to configs #16
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This is an important step to be able to re-parameterize move base, the diffdrive controller, ekf, amcl and the costmaps for adding a tf prefix to the robots links
The gazebo plugins automatically use tf_prefix, even if none is set (in that case it defaults to the robot namespace). That's why we can remove the prefix from the plugins configuration, assuming that the robot namespace will be equal to the prefix.
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(extends #15)
This PR adds ways to parameterize move_base et al. with a tf prefix, in cases where a simple rosparam
tf_prefixdoes not work. (And it doesn't because of parts of MoveIt!, e.g. the PlanningSceneMonitor, ignore thetf_prefix).TODO
I did not check if this breaks anything. There might be some launchfiles which do not substitute the
$(arg prefix)when loading the yaml files.