From 4663790e15e55d6461b42a287014b318e3ed169f Mon Sep 17 00:00:00 2001 From: Matej Petrlik Date: Mon, 18 Mar 2024 20:57:23 +0100 Subject: [PATCH] fixed missing / --- src/sensor_and_model_plugins/link_static_tf_publisher.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/sensor_and_model_plugins/link_static_tf_publisher.cpp b/src/sensor_and_model_plugins/link_static_tf_publisher.cpp index 88630cc..a6a2770 100644 --- a/src/sensor_and_model_plugins/link_static_tf_publisher.cpp +++ b/src/sensor_and_model_plugins/link_static_tf_publisher.cpp @@ -70,8 +70,8 @@ class LinkStaticTFPublisher : public ModelPlugin { // Publish the transform geometry_msgs::TransformStamped transformStamped; transformStamped.header.stamp = ros::Time::now(); - transformStamped.header.frame_id = robotNamespace + parentLinkName.erase(parentLinkName.find("_link"), std::string("_link").length()); - transformStamped.child_frame_id = robotNamespace + childLinkName.erase(childLinkName.find("_link"), std::string("_link").length()); + transformStamped.header.frame_id = robotNamespace + "/" + parentLinkName.erase(parentLinkName.find("_link"), std::string("_link").length()); + transformStamped.child_frame_id = robotNamespace + "/" + childLinkName.erase(childLinkName.find("_link"), std::string("_link").length()); transformStamped.transform.translation.x = relativePose.Pos().X(); transformStamped.transform.translation.y = relativePose.Pos().Y(); transformStamped.transform.translation.z = relativePose.Pos().Z(); @@ -80,7 +80,7 @@ class LinkStaticTFPublisher : public ModelPlugin { transformStamped.transform.rotation.y = relativePose.Rot().Y(); transformStamped.transform.rotation.z = relativePose.Rot().Z(); tf_broadcaster.sendTransform(transformStamped); - ROS_INFO_STREAM("[LinkStaticTFPublisher]: Published static TF between frames \"" << robotNamespace << parentLinkName << "\", \"" << robotNamespace << childLinkName << "\""); + ROS_INFO_STREAM("[LinkStaticTFPublisher]: Published static TF between frames \"" << robotNamespace << "/" << parentLinkName << "\", \"" << robotNamespace << "/" << childLinkName << "\""); } };