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Improved tf_prefix based on namespace #1060

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Solves #1048.

When using robot namespace as tf_prefix, it now removes any starting '/' and only adds an ending '/' if not present already.
Starting with '/' is not common in TF2 and showed compatibility issues with for instance robot_localization.

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@saikishor saikishor left a comment

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The changes look fine to me!

Thank you!

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@christophfroehlich christophfroehlich left a comment

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Please have a look at the failing tests

henrygerardmoore pushed a commit to henrygerardmoore/ros2_controllers that referenced this pull request Jul 19, 2024
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