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The hard part is /tf since robot_state_publisher push all frame_ids into single topic.

EDIT: This is how I launch RobotStatePublisher:

robot_state_publisher = Node(
    package='robot_state_publisher',
    node_executable='robot_state_publisher',
    node_namespace=LaunchConfiguration(args.MODEL_NAME_ARG),
    output='screen',
    parameters=[{
        'use_sim_time': LaunchConfiguration(args.USE_SIM_TIME_ARG, default=True),
        'tf_prefix': 'ssss',
    }],
    arguments=[
        urdf,
        LaunchConfiguration(args.MODEL_NAME_ARG),
        '__log_level:=warn',
        'tf_prefix:=dddd',
    ],
)

tf_prefix is not set neither as parameter, nor as argument.

If you look into dashing branch of robot_state_publisher, you can see that tf_prefix is actually ignored: https://github.com/ros2/robot_state_publisher/blob/bffb9d14c7452df0a96b92cd338c4137ec6e39b7/src/joint_state_listener.cpp#L83


Originally posted by Dmitriy on ROS Answers with karma: 78 on 2019-10-03

Post score: 0

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2 Answers 2

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I opened PR on this. https://github.com/ros2/robot_state_publisher/pull/34


Originally posted by Dmitriy with karma: 78 on 2019-10-04

This answer was NOT ACCEPTED on the original site

Post score: 1

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For any new viewers to this question, the functionality of tf_prefix has been recently reintroduced in Foxy and Galactic, under a new name: frame_prefix. More details can be found on the wiki here


Originally posted by shonigmann with karma: 1567 on 2021-10-12

This answer was NOT ACCEPTED on the original site

Post score: 1

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