tf_prefix is not resolved

[asiron]

Looks like tf::TransformListener::resolve is missing on frame_ids. Is that correct ? If yes I can make a fix for that.

[vrabaud]

which code please ?

[asiron]

Oh, sorry I forgot to tell you the code. It's in naoqi_joint_states. lines 195-197

// get base_frame_id (and fix prefix if necessary)
m_privateNh.param("base_frame_id", m_baseFrameId, m_baseFrameId);
m_privateNh.param("odom_frame_id", m_odomFrameId, m_odomFrameId);

[asiron]

I made a fix for that, to enable muliple robots:
193cca1

[vrabaud]

actually, that bug would not happen with tf2 right ? Wouldn't it be simpler to switch to tf2 ? That's what the alrosbridge that got announced yesterday does.
https://github.com/ros-naoqi/alrosbridge/blob/master/src/converters/nao_joint_state.cpp