Parameterized diff_drive_controller's odom_frame_id

[tappan-at-git]

Addressing issue #204, made odom_frame_id_ a parameter-driven value for diff_drive_controllers.

[bmagyar]

May I ask you to provide 2 tests as well?
One where you don't specify the topic, and check that it shows up on /odom, and another one where you specify a different topic and the test checks that the new topic gets published and that there is no odom. Feel free to peek into the test folder for inspiration ;)

Updating the diff drive wiki should also be in order.

[tappan-at-git]

Sorry, just so I'm sure I understand the tests you're asking for -- by topic do you mean frame id?

Currently working on:

• Testing with odom_frame_id not specified: /odom tf exists, published odometry messages have their header frame_id set to odom.
• Testing with odom_frame_id set to "new_odom": Original /odom tf does not exist, /new_odom tf does exist, and published odometry messages use new_odom in their header frame_id.

[tappan-at-git]

Tests implemented, and passing.

[efernandez]

optional: you don't need to zero anything for this test

[efernandez]

Just some minor comments related with the test.

I think it's good to have the ability to set the odometry frame_id, as in amcl.
The implementation LGTM. Thanks for the tests; maybe it was enough with the second one.

👍 @tappan-at-git Let us know if you either address my minor comments or not, to merge this.

[tappan-at-git]

Changes made!

[bmagyar]

👍 here too

[efernandez]

Thanks! Let's merge this 🎉

[bmagyar]

Thanks for your contribution Eric!

[tappan-at-git]

No problem! 🎉 Is there a good way to keep track of the release cycle so I can make sure the new feature gets documented on the wiki once it hits?

[bmagyar]

Not really. You can check back to see if there are new tags with release
version or take a look at the corresponding release discussion on the
issues list.
On 15 Dec 2015 19:33, "Eric Tappan" [email protected] wrote:

No problem! [image: 🎉] Is there a good way to keep track of the
release cycle so I can make sure the new feature gets documented on the
wiki once it hits?

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