Hello all,
I'm working on a gazebo simulation for multiple husky robots and I'm running into some problems with my tf tree.
To set up the simulation, I'm launching each robot in a unique namespace with a matching tf prefix. This works great for separating out ROS topics and most of the transforms, however, I'm having issues with the plugins for my odometry and IMU. The issues I'm having seem to be because the frame_id of the plugins called from the .xacro file do not inherit the tf_prefix of the launch file that called them.
Here's an example:
For the default simulation with one robot, the topic **imu/data** is broadcast and has the **frame_id: base_link**. When wrapped in the namespace and tf_prefix, I can edit the parameter to make the topic **huksy1/imu/data**. But I can't seem to change the frame id to be **frame_id: husky1/base_link**.
Does anyone have an idea on how this could be done?
Thanks all!
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