ROS Noetic上无法使用robot_state_publisher发布带有name spcace的tf

测试tb3的多机

$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_0

$ rosrun rqt_tf_tree rqt_tf_tree

tf树出现没有name space的问题

1 个回复

解决方法：

下载noetic分支的最新源码，重新编译

$ cd ~/turtlebot3_ws/src 

$ git clone -b noetic-devel https://github.com/ros/robot_state_publisher 

$ cd ~/turtlebot3_ws/ 

$ catkin_make

测试：

参考资料：

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