namespace and link-name are hardcoded in GPSRosPlugin

[Timple]

We use the IMURosPlugin and the GPSRosPlugin for our robots. But we don't use namespaces in tf since they are deprecated.

The frame_id of the IMURosPlugin is defined as follows: this->imuROSMessage.header.frame_id = this->link->GetName();

Whereas the frame_id of the GPSRosPlugin is defined like this: this->gpsMessage.header.frame_id = this->robotNamespace + "/gps_link";

Coult the GPS version be implemented identical to the IMU? So we can set our own name for the link instead of forcing a namespace?

• [ ] Fix setting of the frame_id for sensor plugins

[musamarcusso]

Hi @Timple. I will have a look into that. I made it that way because the project was thought to always have the namespace because of the number of vehicles being simulated at the same time.

[arturmiller]

Looking into the standard gazebo plugins, their it is default the link name, but you can overwrite it with the frameName parameter. Look for example here and here.