Michal Staniaszek

With the changes in #2190, I modified the test code: ```python #!/usr/bin/env python import rospy from geometry_msgs.msg import PoseStamped import message_filters def first_cb(msg): rospy.loginfo("first callback called") def second_cb(msg): rospy.loginfo("second callback...

Thanks for this. Are the tf frames generated by the new URDF different to those in the existing version?

I think it is probably good to match names with the ros2 repo but it might mean that people using this one will have to change stuff in their code,...

It definitely makes sense to make the switch, since clearly there is an issue with the previous version, but I will need to make an announcement to make sure people...

I've updated the joint names to correspond to the spot_ros2 names (which come from the BD names), and updated the "friendly joint names" to convert to these values. | Original...

Great, thank you for confirming. I don't use gazebo so wasn't aware of that requirement. Did you need to use the virtual joint for anything that you were doing? If...

I can merge this but any existing code that relied on specific frames being related to the arm will not function, as per the table above. Have you tested this...

I can't say whether the arm frame change is the cause. I don't think there is anything that specifically references the arm frames in the gripper command. It's possible that...

The solution requires code changes, likely maintaining a list of the published tfs and then ignoring those which have already been published, but I've not had a chance to do...

I attempted a fix at https://github.com/heuristicus/spot_ros/blob/2a1d26da976a6376b21b5af9ce5328899fb7a8c4/spot_driver/src/spot_driver/spot_ros.py#L162-L178 a while back, I suppose it's still missing some of the duplicates.