Remove initial slash from TF frame name

Author: rhaschke

doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp

@@ -256,7 +256,7 @@ int main(int argc, char** argv)
   marker_publisher.publish(marker_delete);
 
   visualization_msgs::Marker marker;
-  marker.header.frame_id = "/panda_link0";
+  marker.header.frame_id = "panda_link0";
   marker.header.stamp = ros::Time::now();
   marker.ns = "world_cube";
   marker.id = 0;

doc/interactivity/include/interactivity/imarker.h

@@ -65,7 +65,7 @@ class IMarker
 
   /** create an interactive marker at the origin */
   IMarker(interactive_markers::InteractiveMarkerServer& server, const std::string& name,
-          const std::string& frame_id = "/panda_link0",
+          const std::string& frame_id = "panda_link0",
           boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> callback = printFeedback,
           Dof dof = BOTH)
     : imarker_()
@@ -76,7 +76,7 @@ class IMarker
 
   /** create an interactive marker with an initial pose */
   IMarker(interactive_markers::InteractiveMarkerServer& server, const std::string& name, const Eigen::Isometry3d& pose,
-          const std::string& frame_id = "/panda_link0",
+          const std::string& frame_id = "panda_link0",
           boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> callback = printFeedback,
           Dof dof = BOTH)
     : imarker_()
@@ -90,7 +90,7 @@ class IMarker
   /** create an interactive marker with an initial pose */
   IMarker(interactive_markers::InteractiveMarkerServer& server, const std::string& name,
           const Eigen::Vector3d& position, const Eigen::Quaterniond& orientation,
-          const std::string& frame_id = "/panda_link0",
+          const std::string& frame_id = "panda_link0",
           boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> callback = printFeedback,
           Dof dof = BOTH)
     : imarker_()
@@ -100,7 +100,7 @@ class IMarker
 
   /** create an interactive marker with an initial position */
   IMarker(interactive_markers::InteractiveMarkerServer& server, const std::string& name,
-          const Eigen::Vector3d& position, const std::string& frame_id = "/panda_link0",
+          const Eigen::Vector3d& position, const std::string& frame_id = "panda_link0",
           boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> callback = printFeedback,
           Dof dof = BOTH)
     : imarker_()

doc/interactivity/src/interactive_robot.cpp

@@ -88,12 +88,12 @@ InteractiveRobot::InteractiveRobot(const std::string& robot_description, const s
   desired_group_end_link_pose_ = robot_state_->getGlobalLinkTransform(end_link);
 
   // Create a marker to control the "panda_arm" group
-  imarker_robot_ = new IMarker(interactive_marker_server_, "robot", desired_group_end_link_pose_, "/panda_link0",
+  imarker_robot_ = new IMarker(interactive_marker_server_, "robot", desired_group_end_link_pose_, "panda_link0",
                                boost::bind(movedRobotMarkerCallback, this, boost::placeholders::_1), IMarker::BOTH);
 
   // create an interactive marker to control the world geometry (the yellow cube)
   desired_world_object_pose_ = DEFAULT_WORLD_OBJECT_POSE_;
-  imarker_world_ = new IMarker(interactive_marker_server_, "world", desired_world_object_pose_, "/panda_link0",
+  imarker_world_ = new IMarker(interactive_marker_server_, "world", desired_world_object_pose_, "panda_link0",
                                boost::bind(movedWorldMarkerCallback, this, boost::placeholders::_1), IMarker::POS);
 
   // start publishing timer.
@@ -287,7 +287,7 @@ void InteractiveRobot::setWorldObjectPose(const Eigen::Isometry3d& pose)
 void InteractiveRobot::publishWorldState()
 {
   visualization_msgs::Marker marker;
-  marker.header.frame_id = "/panda_link0";
+  marker.header.frame_id = "panda_link0";
   marker.header.stamp = ros::Time::now();
   marker.ns = "world_box";
   marker.id = 0;