From 4e6d3e746f5a853297a5a1f1a57608ebcbf5e376 Mon Sep 17 00:00:00 2001
From: Darren Churchill <darrenmchurchill@gmail.com>
Date: Sat, 9 Mar 2019 21:02:04 -0700
Subject: [PATCH 1/2] Remove tf_prefix parameter from the simulation.

---
 launch/swarmie.launch | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/launch/swarmie.launch b/launch/swarmie.launch
index 0e2f0eb1..7149831e 100644
--- a/launch/swarmie.launch
+++ b/launch/swarmie.launch
@@ -1,7 +1,5 @@
 <launch>
 
-  <param name="tf_prefix" value="$(arg name)" />
-
   <node name="$(arg name)_BASE2CAM" pkg="tf" type="static_transform_publisher" args="0.12 -0.03 0.195 -1.57 0 -2.22 $(arg name)/base_link $(arg name)/camera_link 100" />
   <node name="$(arg name)_DIAGNOSTICS" pkg="diagnostics" type="diagnostics" args="$(arg name)" />
   <node name="$(arg name)_SBRIDGE" pkg="sbridge" type="sbridge" args="$(arg name)" />
@@ -11,7 +9,7 @@
 
       <param name="magnetic_declination_radians" value="0.0"/>
       <param name="yaw_offset" value="1.57079632679"/>
-      <param name="world_frame" value="map"/>
+      <param name="world_frame" value="$(arg name)/map"/>
       <param name="frequency" value="10"/>
 
       <remap from="/imu/data" to="/$(arg name)/imu" />
@@ -27,7 +25,9 @@
       <param name="odom0" value="/$(arg name)/odom" />
       <param name="imu0" value="/$(arg name)/imu" />
       <param name="two_d_mode" value="true" />
-      <param name="world_frame" value="odom" />
+      <param name="world_frame" value="$(arg name)/odom" />
+      <param name="odom_frame" value="$(arg name)/odom" />
+      <param name="base_link_frame" value="$(arg name)/base_link" />
       <param name="frequency" value="10" />
 
       <rosparam param="odom0_config">[false, false, false,
@@ -79,7 +79,10 @@
       <param name="odom1" value="/$(arg name)/odom/filtered" />
       <param name="imu0" value="/$(arg name)/imu" />
       <param name="two_d_mode" value="true" />
-      <param name="world_frame" value="map" />
+      <param name="world_frame" value="$(arg name)/map" />
+      <param name="map_frame" value="$(arg name)/map" />
+      <param name="odom_frame" value="$(arg name)/odom" />
+      <param name="base_link_frame" value="$(arg name)/base_link" />
       <param name="frequency" value="10" />
 
       <rosparam param="odom0_config">[true, true, false,

From 54873186ecb8c1a331484cce03ecdd18785ce07a Mon Sep 17 00:00:00 2001
From: Darren Churchill <darrenmchurchill@gmail.com>
Date: Sat, 9 Mar 2019 21:11:26 -0700
Subject: [PATCH 2/2] Remove tf_prefix parameter from the physical rover.

---
 misc/rover_onboard_node_launch.sh | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/misc/rover_onboard_node_launch.sh b/misc/rover_onboard_node_launch.sh
index 4ef23927..42ed96ec 100755
--- a/misc/rover_onboard_node_launch.sh
+++ b/misc/rover_onboard_node_launch.sh
@@ -38,11 +38,6 @@ else
 fi
 
 
-#Set prefix to fully qualify transforms for each robot
-echo "set prefix to fully qualify transforms for each robot: $HOSTNAME"
-rosparam set tf_prefix $HOSTNAME
-
-
 #Function to lookup correct path for a given device
 echo "findDevicePath() for usb devices (arduino, camera, etc)"
 findDevicePath() {
@@ -109,13 +104,13 @@ else
     nohup > logs/$HOSTNAME"_ublox_log.txt" rosrun ublox_gps ublox_gps __name:=$HOSTNAME\_UBLOX /$HOSTNAME\_UBLOX/fix:=/$HOSTNAME/fix /$HOSTNAME\_UBLOX/fix_velocity:=/$HOSTNAME/fix_velocity /$HOSTNAME\_UBLOX/navposllh:=/$HOSTNAME/navposllh /$HOSTNAME\_UBLOX/navsol:=/$HOSTNAME/navsol /$HOSTNAME\_UBLOX/navstatus:=/$HOSTNAME/navstatus /$HOSTNAME\_UBLOX/navvelned:=/$HOSTNAME/navvelned _device:=/dev/$gpsDevicePath _frame_id:=$HOSTNAME/base_link &
 fi
 
-nohup > logs/$HOSTNAME"_localization_navsat_log.txt" rosrun robot_localization navsat_transform_node __name:=$HOSTNAME\_NAVSAT _world_frame:=map _frequency:=10 _magnetic_declination_radians:=0.1530654 _yaw_offset:=0 /imu/data:=/$HOSTNAME/imu /gps/fix:=/$HOSTNAME/fix /odometry/filtered:=/$HOSTNAME/odom/ekf /odometry/gps:=/$HOSTNAME/odom/navsat &
+nohup > logs/$HOSTNAME"_localization_navsat_log.txt" rosrun robot_localization navsat_transform_node __name:=$HOSTNAME\_NAVSAT _world_frame:=$HOSTNAME/map _frequency:=10 _magnetic_declination_radians:=0.1530654 _yaw_offset:=0 /imu/data:=/$HOSTNAME/imu /gps/fix:=/$HOSTNAME/fix /odometry/filtered:=/$HOSTNAME/odom/ekf /odometry/gps:=/$HOSTNAME/odom/navsat &
 
 rosparam set /$HOSTNAME\_ODOM/odom0 /$HOSTNAME/odom
 rosparam set /$HOSTNAME\_ODOM/imu0 /$HOSTNAME/imu
 rosparam set /$HOSTNAME\_ODOM/odom0_config [false,false,false,false,false,false,true,false,false,false,false,true,false,false,false]
 rosparam set /$HOSTNAME\_ODOM/imu0_config [false,false,false,false,false,true,false,false,false,false,false,true,true,false,false]
-nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=odom _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &
+nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=$HOSTNAME/odom _odom_frame:=$HOSTNAME/odom _base_link_frame:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &
 
 rosparam set /$HOSTNAME\_MAP/odom0 /$HOSTNAME/odom/navsat
 rosparam set /$HOSTNAME\_MAP/odom1 /$HOSTNAME/odom/filtered
@@ -157,7 +152,7 @@ rosparam set $HOSTNAME\_MAP/process_noise_covariance "[0.005, 0, 0, 0, 0, 0, 0,
                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0,  /
                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1]"
 
-nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=map _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &
+nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=$HOSTNAME/map _map_frame:=$HOSTNAME/map _odom_frame:=$HOSTNAME/odom _base_link_frame:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &
 
 throttle()
 {