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TF prefix helper for diff drive controller #1997

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30f0305
tf prefix helper utilized
kuralme Nov 9, 2025
bd0c00d
TEMP: my fork used for CI test
kuralme Nov 9, 2025
5e16e0d
tf prefix helper update
kuralme Nov 13, 2025
008d1f4
temp commit: used my fork for CI
kuralme Nov 13, 2025
32e71df
deprecated tf prefix flag
kuralme Nov 15, 2025
49b60e7
deprecation notes updated
kuralme Nov 16, 2025
c4939ff
reverted to original
kuralme Dec 1, 2025
aae1a3e
tested updated tf prefix helper
kuralme Dec 1, 2025
a945c58
Merge branch 'master' into tf_prefix_helper/diff_drive
christophfroehlich Dec 1, 2025
69c55f9
Update diff_drive_controller/src/diff_drive_controller.cpp
kuralme Dec 2, 2025
de08290
Fix pre-commit
christophfroehlich Dec 3, 2025
982ba63
Update diff_drive_controller.cpp
christophfroehlich Dec 3, 2025
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28 changes: 16 additions & 12 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <utility>
#include <vector>

#include "controller_interface/tf_prefix.hpp"
#include "diff_drive_controller/diff_drive_controller.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "lifecycle_msgs/msg/state.hpp"
Expand Down Expand Up @@ -410,37 +411,40 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
}
});

// deprecation warning if tf_frame_prefix_enable set to non-default value
const bool default_tf_frame_prefix_enable = true;
if (params_.tf_frame_prefix_enable != default_tf_frame_prefix_enable)
{
RCLCPP_WARN(
get_node()->get_logger(),
"Parameter 'tf_frame_prefix_enable' is DEPRECATED and set to a non-default value (%s). "
"Please migrate to 'tf_frame_prefix'.",
params_.tf_frame_prefix_enable ? "true" : "false");
}

// initialize odometry publisher and message
odometry_publisher_ = get_node()->create_publisher<nav_msgs::msg::Odometry>(
DEFAULT_ODOMETRY_TOPIC, rclcpp::SystemDefaultsQoS());
realtime_odometry_publisher_ =
std::make_shared<realtime_tools::RealtimePublisher<nav_msgs::msg::Odometry>>(
odometry_publisher_);

// Append the tf prefix if there is one
// resolve prefix: substitute tilde (~) with the namespace if contains and normalize slashes (/)
std::string tf_prefix = "";
if (params_.tf_frame_prefix_enable)
{
if (params_.tf_frame_prefix != "")
{
tf_prefix = params_.tf_frame_prefix;
tf_prefix = controller_interface::resolve_tf_prefix(
params_.tf_frame_prefix, get_node()->get_namespace());
}
else
{
tf_prefix = std::string(get_node()->get_namespace());
}

// Make sure prefix does not start with '/' and always ends with '/'
if (tf_prefix.back() != '/')
{
tf_prefix = tf_prefix + "/";
}
if (tf_prefix.front() == '/')
{
tf_prefix.erase(0, 1);
}
}

// prepend resolved TF prefix to frame ids
const auto odom_frame_id = tf_prefix + params_.odom_frame_id;
const auto base_frame_id = tf_prefix + params_.base_frame_id;

Expand Down
2 changes: 1 addition & 1 deletion diff_drive_controller/src/diff_drive_controller_parameter.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ diff_drive_controller:
tf_frame_prefix_enable: {
type: bool,
default_value: true,
description: "Enables or disables appending tf_prefix to tf frame id's.",
description: "Deprecated: this parameter will be removed in a future release. Use 'tf_frame_prefix' instead.",
}
tf_frame_prefix: {
type: string,
Expand Down
79 changes: 13 additions & 66 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,12 +74,10 @@ class TestableDiffDriveController : public diff_drive_controller::DiffDriveContr
return realtime_odometry_publisher_;
}
// Declare these tests as friends so we can access odometry_message_
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_prefix_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_blank_prefix_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_prefix_set_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_tilde_prefix_set_namespace);
// Declare these tests as friends so we can access controller_->reference_interfaces_
FRIEND_TEST(TestDiffDriveController, chainable_controller_unchained_mode);
FRIEND_TEST(TestDiffDriveController, chainable_controller_chained_mode);
Expand Down Expand Up @@ -310,29 +308,7 @@ TEST_F(
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
{
std::string odom_id = "odom";
std::string base_link_id = "base_link";
std::string frame_prefix = "test_prefix";

ASSERT_EQ(
InitController(
left_wheel_names, right_wheel_names,
{rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(false)),
rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

/* tf_frame_prefix_enable is false so no modifications to the frame id's */
ASSERT_EQ(controller_->odometry_message_.header.frame_id, odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
TEST_F(TestDiffDriveController, configure_succeeds_tf_prefix_no_namespace)
{
std::string odom_id = "odom";
std::string base_link_id = "base_link";
Expand All @@ -349,13 +325,12 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

/* tf_frame_prefix_enable is true and frame_prefix is not blank so should be appended to the frame
* id's */
// frame_prefix is not blank so should be prepended to the frame id's
ASSERT_EQ(controller_->odometry_message_.header.frame_id, frame_prefix + "/" + odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, frame_prefix + "/" + base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_no_namespace)
{
std::string odom_id = "odom";
std::string base_link_id = "base_link";
Expand All @@ -372,38 +347,12 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_names

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

/* tf_frame_prefix_enable is true but frame_prefix is blank so should not be appended to the frame
* id's */
ASSERT_EQ(controller_->odometry_message_.header.frame_id, odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_namespace)
{
std::string test_namespace = "/test_namespace";

std::string odom_id = "odom";
std::string base_link_id = "base_link";
std::string frame_prefix = "test_prefix";

ASSERT_EQ(
InitController(
left_wheel_names, right_wheel_names,
{rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(false)),
rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))},
test_namespace),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

/* tf_frame_prefix_enable is false so no modifications to the frame id's */
// frame_prefix is blank so nothing added to the frame id's
ASSERT_EQ(controller_->odometry_message_.header.frame_id, odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_namespace)
TEST_F(TestDiffDriveController, configure_succeeds_tf_prefix_set_namespace)
{
std::string test_namespace = "/test_namespace";

Expand All @@ -423,18 +372,17 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

/* tf_frame_prefix_enable is true and frame_prefix is not blank so should be appended to the frame
* id's instead of the namespace*/
// frame_prefix is not blank so should be prepended to the frame id's instead of the namespace
ASSERT_EQ(controller_->odometry_message_.header.frame_id, frame_prefix + "/" + odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, frame_prefix + "/" + base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace)
TEST_F(TestDiffDriveController, configure_succeeds_tf_tilde_prefix_set_namespace)
{
std::string test_namespace = "/test_namespace";
std::string odom_id = "odom";
std::string base_link_id = "base_link";
std::string frame_prefix = "";
std::string frame_prefix = "~";

ASSERT_EQ(
InitController(
Expand All @@ -448,9 +396,8 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

// frame_prefix has tilde (~) character so node namespace should be prepended to the frame id's
std::string ns_prefix = test_namespace.erase(0, 1) + "/";
/* tf_frame_prefix_enable is true but frame_prefix is blank so namespace should be appended to the
* frame id's */
ASSERT_EQ(controller_->odometry_message_.header.frame_id, ns_prefix + odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, ns_prefix + base_link_id);
}
Expand Down
6 changes: 5 additions & 1 deletion doc/migration.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ Migration Guides: Kilted Kaiju to Lyrical Luth
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases, where changes to user code might be necessary.


effort_controllers
*****************************
* ``effort_controllers/JointGroupEffortController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``effort``. (`#1913 <https://github.com/ros-controls/ros2_controllers/pull/1913>`_).
Expand All @@ -16,3 +15,8 @@ position_controllers
velocity_controllers
*****************************
* ``velocity_controllers/JointGroupVelocityController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``velocity``. (`#1913 <https://github.com/ros-controls/ros2_controllers/pull/1913>`_).

diff_drive_controller
*****************************
* Instead of using ``tf_frame_prefix_enable:=false``, set an empty ``tf_frame_prefix:=""`` parameter instead. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
* For using node namespace as tf prefix: Set ``tf_frame_prefix:="~"``, where the ("~") character is substituted with node namespace. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
5 changes: 5 additions & 0 deletions doc/release_notes.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -8,3 +8,8 @@ This list summarizes important changes between Kilted Kaiju (previous) and Lyric
force_torque_sensor_broadcaster
*******************************
* Added support for transforming Wrench messages to a given list of target frames. This is useful when applications need force/torque data in their preferred coordinate frames. (`#2021 <https://github.com/ros-controls/ros2_controllers/pull/2021/files>`__).

diff_drive_controller
*****************************
* Parameter ``tf_frame_prefix_enable`` got deprecated and will be removed in a future release (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
* Now any tilde ("~") character in ``tf_frame_prefix`` is substituted with node namespace. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
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