Merge pull request #117 from huberemanuel/fix/frame_id_names

Removing initial slash from frame_id names for tf
carla-simulator · May 13, 2019 · c25f3bc · c25f3bc
2 parents e7869b7 + fd6e280
commit c25f3bc
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -41,7 +41,7 @@ def __init__(self, carla_world, params):
         """
         self.params = params
         super(CarlaRosBridge, self).__init__(
-            carla_id=0, carla_world=carla_world, frame_id='/map')
+            carla_id=0, carla_world=carla_world, frame_id='map')
 
         self.timestamp_last_run = 0.0
         self.ros_timestamp = rospy.Time()
@@ -68,7 +68,7 @@ def __init__(self, carla_world, params):
             '/carla/objects', ObjectArray, queue_size=10)
         self.object_array = ObjectArray()
 
-        self.map = Map(carla_world=self.carla_world, parent=self, topic='/map')
+        self.map = Map(carla_world=self.carla_world, parent=self, topic='map')
 
     def destroy(self):
         """

diff --git a/carla_ros_bridge/src/carla_ros_bridge/sensor.py b/carla_ros_bridge/src/carla_ros_bridge/sensor.py
@@ -149,7 +149,7 @@ def get_tf_msg(self):
         """
         tf_msg = TransformStamped()
         tf_msg.header = self.get_msg_header()
-        tf_msg.header.frame_id = "/map"
+        tf_msg.header.frame_id = "map"
         tf_msg.child_frame_id = self.get_frame_id()
         tf_msg.transform = self.get_current_ros_transfrom()
         return tf_msg

diff --git a/carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py b/carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py
@@ -149,7 +149,7 @@ def publish_waypoints(self):
         Publish the ROS message containing the waypoints
         """
         msg = Path()
-        msg.header.frame_id = "/map"
+        msg.header.frame_id = "map"
         msg.header.stamp = rospy.Time.now()
         if self.current_route is not None:
             for wp in self.current_route: