Support for launching multiple robots #35
Merged
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What does this implement/fix?
複数ロボットの起動のために
robot_state_publisher
にtf_prefix
のオプションを使用します。Noeticでは一旦削除されその後再実装されたという経緯があり、1.15.2以降で利用できるようです。
ros/robot_state_publisher#169
RVizを使わないときにはjoint_state_controllerを使う場面の方が多いと思うので
joint_state_publisher
を削除します。Does this close any currently open issues?
いいえ
How has this been tested?
namespace
を指定するとprefixがつくことを確認できます。先頭に
/
がつかないですがこれがrobot_state_publisherの挙動のようです。https://answers.ros.org/question/43145/tf-namespace-resolution/
Any other comments?
なし
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