From 9da2b7c99ec8345c25161b6476e9fd9062e36833 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 5 Dec 2023 17:36:03 +0900
Subject: [PATCH] [jsk_pr2_startup] Remove the slash of the first character for
 noetic (tf2)

---
 .../jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch          | 2 +-
 .../jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch
index e06259fa25..50d1d16fb1 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/pr2_2dnav.launch
@@ -32,7 +32,7 @@
     </node>
     <node name="empty_cloud_publisher" pkg="jsk_pr2_startup"
           type="publish_empty_cloud.py">
-      <param name="frame_id" value="/laser_tilt_link" />
+      <param name="frame_id" value="laser_tilt_link" />
     </node>
 
     <!-- look path forward when navigation -->
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py
index d1cee37d6a..c988c61071 100755
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/publish_empty_cloud.py
@@ -11,7 +11,7 @@ class PublishEmptyCloud(ConnectionBasedTransport):
     def __init__(self):
         super(PublishEmptyCloud, self).__init__()
 
-        frame_id = rospy.get_param('~frame_id', '/base_laser_link')
+        frame_id = rospy.get_param('~frame_id', 'base_laser_link')
         max_range = rospy.get_param('~max_range', 25.0)
         rotate_points = rospy.get_param('~rotate_points', False)