ros-perception/slam_gmapping — pull request #2 by abencz (2013-04-09 03:45:08+00:00)
Title: Respect tf_prefix when sending maps

When working with a multirobot system, setting "tf_prefix" affects the transforms published by slam_gmapping in /tf, but not the frame_id in the published maps. This patch should correct this by prepending tf_prefix to the frame id.

See also section 7.1.1 in http://www.ros.org/wiki/geometry/CoordinateFrameConventions