configure ros_gz_bridge to modify frame_ids

[0x4d494b]

I am inserting a robot model into Gazebo 7 using robot_state_publisher. Then, I am bridging sensors back to ROS2. The sensor IDs have a compound frame_id name (model_name/base_frame/sensor_name) that don't match link names in URDF. That causes all kinds of issues if I try launching RVIZ with the simulation.

This also applies to pose publisher plugin in Gazebo, so getting transformations for everything that I need by modifying link names, for example (sensors, poses, etc) so it would match the robot_state_publisher model becomes tricky.

Desired behavior

ros_gz_bridge could have a config parameter to strip the names up to last "::" instead of replacing those with a '/'. Thoughts?

[azeey]

I believe you can set the frame_id of the sensor to whatever you want with gz_frame_id (see https://github.com/gazebosim/gz-sensors/pull/195)

[0x4d494b]

I believe you can set the frame_id of the sensor to whatever you want with gz_frame_id (see gazebosim/gz-sensors#195)

Thank you very much for the info. It works for sensors and is exactly what I needed. However, the pose publisher doesn't seem to have the same feature.

[samprt-heracles]

This doesn't seem to be working with Gazebo Garden and ROS2 Humble. As mentionned in gazebosim/gz-sensors#195, Gazebo throws a warning and the published frame_id is still the original one. I may be doing something wrong though.

[0x4d494b]

This doesn't seem to be working with Gazebo Garden and ROS2 Humble.

If you use packages from ubuntu then they don't include the latest changes, but if you use ign_frame_id it should work