Configurable TF Namespace

[Dave Kotfis]

It would be helpful if we could use a launch parameter to specify a TF namespace to use. This would allow our software to have our own set of frames without conflicting with the names used by the IHMC software.

[btshrewsbury NA]

Howdy Dave, should be an easy fix. Expect a new jar with TF prefixes by the end of next week.

[Dave Kotfis]

Great, thanks!

[btshrewsbury NA]

We currently publish two transforms directly to /tf. Would these ever need different prefix's in your workflow?

• world to pelvis

• head to multisense/head_root (Always identity).

[Dave Kotfis]

World to pelvis is the one causing us trouble, but it would be nice to be able to just prefix them all if needed. Also, it would be useful if the world to pelvis transform were published out as a ROS message (e.g. type geometry_msgs/Pose). Right now, we constantly pull the transform from TF rather than just executing a callback when it is updated the way we do with all of the joint states.

[Dave Kotfis]

The change that was made does the trick. Can you please provide a passthrough of the parameter through the ihmc_sim.launch file?