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[ROS2] tf_prefix Not Adding to Transformed frame_id #843

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rafiqrana opened this issue Nov 21, 2023 · 0 comments
Open

[ROS2] tf_prefix Not Adding to Transformed frame_id #843

rafiqrana opened this issue Nov 21, 2023 · 0 comments

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@rafiqrana
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rafiqrana commented Nov 21, 2023

I'm attempting to run the ekf_node within the ROS namespace robot_1, setting the tf_prefix parameter to robot_1. However, despite this configuration, the tf_prefix (e.g., robot_1) was not added to the transformed frame id (e.g., odom, map). Just wondering if I am missing anything or there is a bug in the ros-humble-robot-localization package.

Here's the node configuration within my launch file:

Node(
        name='local_ekf_node',
        package='robot_localization',
        executable='ekf_node',
        namespace=LaunchConfiguration('namespace'),
        parameters=[localization_param_file,
            {'tf_prefix', LaunchConfiguration('namespace')}
        ],
        remappings=[
            ('odometry/filtered', 'odom/local'),
        ],
        output='screen'
)

And the contents of the localization_param_file:

 /**:
  local_ekf_node:
    ros__parameters:
      frequency: 30.0
      sensor_timeout: 0.1
      two_d_mode: true
      publish_tf: true
      transform_time_offset: 0.0
      transform_timeout: 0.0
      print_diagnostics: true
      debug: false

      odom_frame: odom
      base_link_frame: base_footprint
      world_frame: odom

      odom0: odom/raw 

      odom0_config: [false, false, false,
                     false, false, false, 
                     true,  true,  true, 
                     false, false, true, 
                     false, false, false]

      odom0_differential: false
      odom0_relative: false

      imu0: imu
      imu0_config: [false, false, false,
                    true,  true,  true,
                    false, false, false,
                    true,  true,  true,
                    true,  true,  true]
@rafiqrana rafiqrana changed the title [ROS2-Humble] tf_prefix Not Adding to Transformed frame_id [ROS2] tf_prefix Not Adding to Transformed frame_id Dec 1, 2023
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