Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Added tf_prefix to the left_wheel_names and right_wheel_names to solve Gazebo plugin issue. #831

Closed
wants to merge 4 commits into from
Closed

Added tf_prefix to the left_wheel_names and right_wheel_names to solve Gazebo plugin issue. #831

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
f3a8da0
Added tf_prefix to the left_wheel_names and right_wheel_names.
suchetanrs Nov 13, 2023
1c4167b
Merge branch 'master' into master
bmagyar Nov 30, 2023
86ee62e
Merge branch 'ros-controls:master' into master
suchetanrs Feb 24, 2024
9078dd0
Fixed whitespace format issue
suchetanrs Feb 24, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 9 additions & 0 deletions diff_drive_controller/src/diff_drive_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -385,6 +385,15 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
const auto odom_frame_id = tf_prefix + params_.odom_frame_id;
const auto base_frame_id = tf_prefix + params_.base_frame_id;

for (auto & joint_name : params_.left_wheel_names)
{
joint_name = tf_prefix + joint_name;
}
for (auto & joint_name : params_.right_wheel_names)
{
joint_name = tf_prefix + joint_name;
}

auto & odometry_message = realtime_odometry_publisher_->msg_;
odometry_message.header.frame_id = odom_frame_id;
odometry_message.child_frame_id = base_frame_id;
Expand Down
Loading