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Improved tf_prefix based on namespace #1059

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Improved tf_prefix based on namespace #1059

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10 changes: 9 additions & 1 deletion diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -411,7 +411,15 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
}
else
{
tf_prefix = tf_prefix + "/";
// Make sure prefix does not start with '/' and always ends with '/'
if (tf_prefix.front() == '/')
{
tf_prefix.erase(0,1);
}
if (tf_prefix.back() != '/')
{
tf_prefix = tf_prefix + "/";
}
}
}

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