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Added tf_prefix to the left_wheel_names and right_wheel_names to solve Gazebo plugin issue. #831

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suchetanrs wants to merge 4 commits into from
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Added tf_prefix to the left_wheel_names and right_wheel_names to solve Gazebo plugin issue. #831

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f3a8da0
Added tf_prefix to the left_wheel_names and right_wheel_names.
suchetanrs Nov 13, 2023
1c4167b
Merge branch 'master' into master
bmagyar Nov 30, 2023
86ee62e
Merge branch 'ros-controls:master' into master
suchetanrs Feb 24, 2024
9078dd0
Fixed whitespace format issue
suchetanrs Feb 24, 2024
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9 changes: 9 additions & 0 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 @@ -385,6 +385,15 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
const auto odom_frame_id = tf_prefix + params_.odom_frame_id;
const auto base_frame_id = tf_prefix + params_.base_frame_id;

for (auto & joint_name : params_.left_wheel_names)
{
joint_name = tf_prefix + joint_name;
}
for (auto & joint_name : params_.right_wheel_names)
{
joint_name = tf_prefix + joint_name;
}

auto & odometry_message = realtime_odometry_publisher_->msg_;
odometry_message.header.frame_id = odom_frame_id;
odometry_message.child_frame_id = base_frame_id;
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