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remove tf_prefix from urdf_visualizer.h; legacy function call from tf1 #21

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@thvhauwe thvhauwe commented Apr 27, 2021

Currently, this package is unavailable to compile under ros noetic and thus Ubuntu 20.04 focal. Error when building using catkin build indicate problems with tf_prefix, a relic from tf deprecated since melodic.

This PR proposes to drop the tf_prefix from the urdf_visualizer.h, which calls to the robot_state_publisher.h header provided by ROS.

It can be seen by comparing these two classes that publishTransform method has changed from melodic --> noetic:

http://docs.ros.org/en/melodic/api/robot_state_publisher/html/classrobot__state__publisher_1_1RobotStatePublisher.html
http://docs.ros.org/en/noetic/api/robot_state_publisher/html/classrobot__state__publisher_1_1RobotStatePublisher.html

Edit: related ros/robot_state_publisher#139

Apparantly, the removal of tf_prefix is disputed as there is no drop-in replacement functionality in tf2. Using this proposed fix will allow to compile under noetic, but break visualization in rviz.

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