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Improved tf_prefix based on namespace #1060

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Improved tf_prefix based on namespace #1060

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ab1f2c6
Remove any '/' at start of tf_prefix and only add '/' at the end of t…
kjvanteeffelen Feb 26, 2024
30fb64e
More efficient handling of namespace as tf_prefix after review
kjvanteeffelen Feb 27, 2024
7016578
Merge branch 'master' into pr-master-tf-prefix-from-namespace
kjvanteeffelen Apr 5, 2024
617f421
Fix clang issue
kjvanteeffelen Apr 8, 2024
0cebae8
Merge branch 'master' into pr-master-tf-prefix-from-namespace
kjvanteeffelen Apr 11, 2024
06eefb7
Merge branch 'ros-controls:master' into pr-master-tf-prefix-from-name…
kjvanteeffelen May 17, 2024
b082a43
Merge branch 'ros-controls:master' into pr-master-tf-prefix-from-name…
kjvanteeffelen Jun 3, 2024
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9 changes: 5 additions & 4 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -372,13 +372,14 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
tf_prefix = std::string(get_node()->get_namespace());
}

if (tf_prefix == "/")
// Make sure prefix does not start with '/' and always ends with '/'
if (tf_prefix.back() != '/')
{
tf_prefix = "";
tf_prefix = tf_prefix + "/";
}
else
if (tf_prefix.front() == '/')
{
tf_prefix = tf_prefix + "/";
tf_prefix.erase(0, 1);
}
}

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