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Improved tf_prefix based on namespace (backport #1420) #1421

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merged 2 commits into from
Dec 10, 2024
Merged

Improved tf_prefix based on namespace (backport #1420) #1421

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24cbcb0
Improve tf_prefix based on namespace (#1420)
rafal-gorecki Dec 10, 2024
4f8730c
Merge branch 'humble' into mergify/bp/humble/pr-1420
christophfroehlich Dec 10, 2024
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9 changes: 5 additions & 4 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,13 +405,14 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
tf_prefix = std::string(get_node()->get_namespace());
}

if (tf_prefix == "/")
// Make sure prefix does not start with '/' and always ends with '/'
if (tf_prefix.back() != '/')
{
tf_prefix = "";
tf_prefix = tf_prefix + "/";
}
else
if (tf_prefix.front() == '/')
{
tf_prefix = tf_prefix + "/";
tf_prefix.erase(0, 1);
}
}

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6 changes: 3 additions & 3 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -388,7 +388,6 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace)
{
std::string test_namespace = "/test_namespace";

std::string odom_id = "odom";
std::string base_link_id = "base_link";
std::string frame_prefix = "";
Expand All @@ -408,10 +407,11 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;
std::string ns_prefix = test_namespace.erase(0, 1) + "/";
/* tf_frame_prefix_enable is true but frame_prefix is blank so namespace should be appended to the
* frame id's */
ASSERT_EQ(test_odom_frame_id, test_namespace + "/" + odom_id);
ASSERT_EQ(test_base_frame_id, test_namespace + "/" + base_link_id);
ASSERT_EQ(test_odom_frame_id, ns_prefix + odom_id);
ASSERT_EQ(test_base_frame_id, ns_prefix + base_link_id);
}

TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
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