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Remove the '/' from frame names #7

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12 changes: 6 additions & 6 deletions ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -632,7 +632,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
// prepare clique center circle message
visualization_msgs::Marker circle;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
circle.header.frame_id = "/map";
circle.header.frame_id = "map";
circle.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -665,7 +665,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
// prepare clique center text message
visualization_msgs::Marker text;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
text.header.frame_id = "/map";
text.header.frame_id = "map";
text.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -703,7 +703,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
{
visualization_msgs::Marker arrow;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
arrow.header.frame_id = "/map";
arrow.header.frame_id = "map";
arrow.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -754,7 +754,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
// prepare room center circle message
visualization_msgs::Marker circle;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
circle.header.frame_id = "/map";
circle.header.frame_id = "map";
circle.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -787,7 +787,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
// prepare room center text message
visualization_msgs::Marker text;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
text.header.frame_id = "/map";
text.header.frame_id = "map";
text.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -823,7 +823,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
// prepare room center to clique center line message
visualization_msgs::Marker arrow;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
arrow.header.frame_id = "/map";
arrow.header.frame_id = "map";
arrow.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down
4 changes: 2 additions & 2 deletions ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,11 @@ approach_path_accessibility_check: true

# link name of the map in tf
# string
map_link_name: "/map"
map_link_name: "map"

# link name of the robot base in tf
# string
robot_base_link_name: "/base_footprint"
robot_base_link_name: "base_footprint"

# update rate for incoming messages about obstacles (provided in [Hz])
# double
Expand Down
6 changes: 3 additions & 3 deletions ipa_room_exploration/ros/src/coverage_monitor_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ class CoverageMonitor
// prepare coverage_marker_msg message
visualization_msgs::Marker coverage_marker_msg;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
coverage_marker_msg.header.frame_id = "/map";
coverage_marker_msg.header.frame_id = "map";
coverage_marker_msg.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -160,7 +160,7 @@ class CoverageMonitor
// prepare computed_trajectory_marker_msg message
visualization_msgs::Marker computed_trajectory_marker_msg;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
computed_trajectory_marker_msg.header.frame_id = "/map";
computed_trajectory_marker_msg.header.frame_id = "map";
computed_trajectory_marker_msg.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down Expand Up @@ -193,7 +193,7 @@ class CoverageMonitor
// prepare commanded_trajectory_marker_msg message
visualization_msgs::Marker commanded_trajectory_marker_msg;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
commanded_trajectory_marker_msg.header.frame_id = "/map";
commanded_trajectory_marker_msg.header.frame_id = "map";
commanded_trajectory_marker_msg.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
Expand Down
2 changes: 1 addition & 1 deletion ipa_room_exploration/ros/src/room_exploration_action_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -593,7 +593,7 @@ void RoomExplorationServer::exploreRoom(const ipa_building_msgs::RoomExploration
std::vector<geometry_msgs::PoseStamped> exploration_path_pose_stamped(exploration_path.size());
std_msgs::Header header;
header.stamp = ros::Time::now();
header.frame_id = "/map";
header.frame_id = "map";
for (size_t i=0; i<exploration_path.size(); ++i)
{
exploration_path_pose_stamped[i].header = header;
Expand Down