message: Gui: removed tf_prefix parameter (related to https://github.com/introlab/rtabmap_ros/commit/18d09f0405a2e626034feade52dda9c0333ecfc9)
diff: @@ -104,11 +104,9 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
  mainWindow_->setMonitoringState(paused);
  // To receive odometry events
  - std::string tfPrefix;
  std::string initCachePath;
  pnh.param("frame_id", frameId_, frameId_);
  pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF
  - pnh.param("tf_prefix", tfPrefix, tfPrefix);
  pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
  pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
  pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_);
  @@ -142,16 +140,9 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
  QMetaObject::invokeMethod(mainWindow_, "updateCacheFromDatabase", Q_ARG(QString, QString(initCachePath.c_str())));
  }
  - if(!tfPrefix.empty())
  + if(pnh.hasParam("tf_prefix"))
  {
  - if(!frameId_.empty())
  - {
  - frameId_ = tfPrefix + "/" + frameId_;
  - }
  - if(!odomFrameId_.empty())
  - {
  - odomFrameId_ = tfPrefix + "/" + odomFrameId_;
  - }
  + ROS_ERROR("tf_prefix parameter has been removed, use directly odom_frame_id and frame_id parameters.");
  }
  UEventsManager::addHandler(this);
  