if tf is just a slash "/" resolve should not append "/"

[renan028]

[tfoote]

Can you clarify what use case this is effecting? And why you believe that this is the right behavior?

[renan028]

Can you clarify what use case this is effecting? And why you believe that this is the right behavior?

If the tf_prefix == / and frame == base_link, for instance, I would expect resolve(prefix, frame) to return base_link, but it returns /base_link instead. Example: https://godbolt.org/z/vzs8x7e7e This has more than one year, thus I don't remember exact packages, but there are some gazebo packages that expects that (passing tf_prefix as a slash /)