Remove the '/' from frame names

[corot]

Can you create a melodic_dev branch, so I redirect this PR to it? Thanks!

[ipa-foj]

Why do you want this to be merged in the original repository? In our case the "/" was required that's why it is written in the code

[corot]

In melodic you must remove the '/' to make it work; I ask you to create a melodic_dev branch so I can PR the changes to it.

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On Sun, Jun 28, 2020, 20:00 ipa-foj ***@***.***> wrote: Why do you want this to be merged in the original repository? In our case the "/" was required that's why it is written in the code — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#7 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AACOYMR4VJZKHDDL5GURCMDRY4PGNANCNFSM4OJ5FRZA> .

[ipa-foj]

Thanks for clarifying, I haven't worked with Melodic so far and didn't know that yet. I created a melodic_dev branch

[ipa-rmb]

I would say it should work the same way in both versions. The "/" should not be needed or if needed, we should set it from outside as a parameter. Usually, the "/" should not be used explicitly. "/map" or "map" are application specific anyways, the map topic might be termed else by the user. Hence, having this set as a parameter or remapping from outside configuration files is a reasonable approach.

Maybe the problem described here arises from different system configurations and references to the "map" topic. I guess, it is not a problem between kinetic and melodic versions, but please correct me if I am wrong.

It would be advantageous not to create a separate melodic_dev version to avoid unecessary maintenance efforts for two almost similar versions. The raised problem should be likely handled the same way in kinetic and melodic.

[corot]

With TF2 (introduced with kinetic), frame ids shouldn't start with '/' (see the migration guide). But TF2 internally removes the slash, so most of the time it's not a problem. The only place where causes issues for me is here, cause the plan poses have '/map' as reference and move_base complains if the global frame is configured as 'map'.

So if you prefer, I can change the PR to set this as a parameter.

All that said, I think there are more things that break with melodic: so far I detected #6, plus another crash when trying to plan a route in a very small room (I didn't report yet). I suspect these issues are related to the use of OpenCV 3, instead of 2 (the default in indigo).... but I cannot confirm that easily. Would be great if someone still using both indigo and melodic can reproduce the issue!

[ipa-rmb]

Alright, thanks for your comments. Then let's go with the new melodic branch as suggested. Seems to make more sense with a new branch if more problems are to appear.