remove tf_prefix from urdf_visualizer.h; legacy function call from tf1 #21
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Currently, this package is unavailable to compile under
ros noeticand thusUbuntu 20.04 focal. Error when building usingcatkin buildindicate problems withtf_prefix, a relic fromtfdeprecated sincemelodic.This PR proposes to drop the
tf_prefixfrom theurdf_visualizer.h, which calls to therobot_state_publisher.hheader provided by ROS.It can be seen by comparing these two classes that
publishTransformmethod has changed from melodic --> noetic:http://docs.ros.org/en/melodic/api/robot_state_publisher/html/classrobot__state__publisher_1_1RobotStatePublisher.html
http://docs.ros.org/en/noetic/api/robot_state_publisher/html/classrobot__state__publisher_1_1RobotStatePublisher.html
Edit: related ros/robot_state_publisher#139
Apparantly, the removal of
tf_prefixis disputed as there is no drop-in replacement functionality intf2. Using this proposed fix will allow to compile under noetic, but break visualization in rviz.