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Leave empty tf_prefix values unset #1143

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merged 1 commit into from Aug 12, 2020
Merged

Leave empty tf_prefix values unset #1143

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4 changes: 0 additions & 4 deletions gazebo_plugins/src/gazebo_ros_camera_utils.cpp
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Expand Up @@ -295,10 +295,6 @@ void GazeboRosCameraUtils::LoadThread()

// resolve tf prefix
this->tf_prefix_ = tf::getPrefixParam(*this->rosnode_);
if(this->tf_prefix_.empty()) {
this->tf_prefix_ = this->robot_namespace_;
boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/"));
}
this->frame_name_ = tf::resolve(this->tf_prefix_, this->frame_name_);

ROS_INFO_NAMED("camera_utils", "Camera Plugin (ns = %s) <tf_prefix_>, set to \"%s\"",
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4 changes: 0 additions & 4 deletions gazebo_plugins/src/gazebo_ros_gpu_laser.cpp
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Expand Up @@ -134,10 +134,6 @@ void GazeboRosLaser::LoadThread()
this->rosnode_ = new ros::NodeHandle(this->robot_namespace_);

this->tf_prefix_ = tf::getPrefixParam(*this->rosnode_);
if(this->tf_prefix_.empty()) {
this->tf_prefix_ = this->robot_namespace_;
boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/"));
}
ROS_INFO_NAMED("gpu_laser", "GPU Laser Plugin (ns = %s) <tf_prefix_>, set to \"%s\"",
this->robot_namespace_.c_str(), this->tf_prefix_.c_str());

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4 changes: 0 additions & 4 deletions gazebo_plugins/src/gazebo_ros_laser.cpp
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Expand Up @@ -131,10 +131,6 @@ void GazeboRosLaser::LoadThread()
this->rosnode_ = new ros::NodeHandle(this->robot_namespace_);

this->tf_prefix_ = tf::getPrefixParam(*this->rosnode_);
if(this->tf_prefix_.empty()) {
this->tf_prefix_ = this->robot_namespace_;
boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/"));
}
ROS_INFO_NAMED("laser", "Laser Plugin (ns = %s) <tf_prefix_>, set to \"%s\"",
this->robot_namespace_.c_str(), this->tf_prefix_.c_str());

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