Deprecated usage of tf prefix in plugins

[piyushk]

tf_prefix has been deprecated in ROS for a couple of distros now. Numerous plugins are still using the tf::resolve function, which is fine if you don't use the tf_prefix parameter.

We've now removed tf_prefix from our codebase, and use xacro to introduce _ before a frame name. Unfortunately, numerous plugins use the following code, which should be removed:

if(this->tf_prefix_.empty()) {
  this->tf_prefix_ = this->robot_namespace_;
  boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/"));
}

We're hacking around this issue by setting /<prefix>_frame (with the preceding slash to prevent tf::resolve from taking effect.

Any thoughts on how to fix this issue while reducing effected users?

[davetcoleman]

Seems like a fix that must be targeted at ROS-L due to the high possibility of breaking current setups, but I would support removing that code!