sayali

`child_frame_id` field of the TransformStamped message is not set before publishing the message on a ROS topic at line 828 in [gazebo_ros_interface_plugin.cpp](https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_gazebo_plugins/src/gazebo_ros_interface_plugin.cpp#L828). This message is published by odometry plugin which...

child_frame_id of odometry message is not set in autorally_plant.cpp

3

As per the http://docs.ros.org/melodic/api/nav_msgs/html/msg/Odometry.html, The twist in the odometry message should be specified in the coordinate frame given by the child_frame_id. In https://github.com/AutoRally/autorally/blob/melodic-devel/autorally_control/src/path_integral/autorally_plant.cpp: the twist has been set for the...

Odometry tf relationship is backward with default param values in odometry_integration.cpp

1

As per ROS conventions (REP 105), '/odom' is usually the parent of '/base_footprint'. However, in the code [odometry_integration.cpp](https://github.com/stevendaniluk/ghost/blob/master/src/odometry_integration.cpp), the following tf is being published: '/base_footprint' -> '/odom'. Is there any...

The following function on line 938 in [tf2_geometry_msgs.h](https://github.com/ros/geometry2/blob/noetic-devel/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h) outputs frame transform `t_out` by applying `transform` on input transform `t_in`. `void doTransform(const geometry_msgs::TransformStamped& t_in, geometry_msgs::TransformStamped& t_out, const geometry_msgs::TransformStamped& transform)` The output...

No header (frame_id) is set for the sensor_msgs::Image output of 'toROSMsg'

2

There are three `toROSMsg` functions, converting input to `sensor_msgs::Image` output, in [pcl_conversions.h](https://github.com/ros-perception/perception_pcl/blob/melodic-devel/pcl_conversions/include/pcl_conversions/pcl_conversions.h) All these functions do not assign the header of the `sensor_msgs::Image` output variable unlike other conversion functions that...

The [HectorExplorationPlanner::makePlan](https://github.com/tu-darmstadt-ros-pkg/hector_navigation/blob/melodic-devel/hector_exploration_planner/src/hector_exploration_planner.cpp#L127) function publishes `original_goal` on `'goal_pose'` topic and `adjusted_goal` on `'observation_pose'` topic. However, the frame info of these published poses (i.e., frame_id field) is not always available: 1. the...

In file [node_controller.py](src/operations/terminal_control/terminal_control/node_controller.py), the ROS node 'KeyboardControllerNode' has a subscriber with callback function 'self.state_callback'. However, there is no ROS spin on the node which can start processing node's callbacks.

In file [cv_pcl_node.cpp](src/computer_vision/src/cv_pcl_node.cpp), single-threaded executor is used to process callbacks of two ROS nodes: [cv_node](https://github.com/jmguerreroh/ros2_computer_vision/blob/c588bda5250ff77181a3fe777dfcc774683a93de/src/computer_vision/src/cv_pcl_node.cpp#L157) and [pcl_node](https://github.com/jmguerreroh/ros2_computer_vision/blob/c588bda5250ff77181a3fe777dfcc774683a93de/src/computer_vision/src/cv_pcl_node.cpp#L158). That means single thread is responsible for executing callbacks from two different callback...

In file [attacher_action.py](https://github.com/IFRA-Cranfield/ros2_RobotSimulation/blob/foxy/ros2_grasping/scripts/attacher_action.py), a) the 'GraspingActionServer' node is setup to use reentrant callback group (at [line 140](https://github.com/IFRA-Cranfield/ros2_RobotSimulation/blob/foxy/ros2_grasping/scripts/attacher_action.py#L140)), and b) one more node, e.g. 'Detach', is added to the global executor...

In file [disturbance_manager.py](https://github.com/Liquid-ai/Plankton/blob/master/uuv_control/uuv_control_utils/scripts/disturbance_manager.py), single-threaded executor is used to process callbacks of two callback groups: default callback group of the node and reentrant callback group used for rate objects. 'rclpy' rate...