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TF prefix helper for diff drive controller #1997

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e2f2bbb
tf prefix helper utilized
kuralme Nov 9, 2025
0f564ff
TEMP: my fork used for CI test
kuralme Nov 9, 2025
e683c98
tf prefix helper update
kuralme Nov 13, 2025
0e25332
temp commit: used my fork for CI
kuralme Nov 13, 2025
55ac441
deprecated tf prefix flag
kuralme Nov 15, 2025
05a578b
deprecation notes updated
kuralme Nov 16, 2025
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39 changes: 16 additions & 23 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/helpers.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 @@ -404,37 +405,29 @@ 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
std::string tf_prefix = "";
if (params_.tf_frame_prefix_enable)
{
if (params_.tf_frame_prefix != "")
{
tf_prefix = params_.tf_frame_prefix;
}
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);
}
}
// resolve prefix: substitute tilde (~) with the namespace if contains and normalize slashes (/)
const auto tf_prefix =
controller_interface::resolve_tf_prefix(params_.tf_frame_prefix, get_node()->get_namespace());

// 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
5 changes: 5 additions & 0 deletions doc/migration.rst
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Expand Up @@ -4,3 +4,8 @@ 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.

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 @@ -4,3 +4,8 @@ Release Notes: Kilted Kaiju to Lyrical Luth
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.

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>`_).
4 changes: 2 additions & 2 deletions ros2_controllers.rolling.repos
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
repositories:
ros2_control:
type: git
url: https://github.com/ros-controls/ros2_control.git
version: master
url: https://github.com/kuralme/ros2_control.git
version: tf_prefix_helper
realtime_tools:
type: git
url: https://github.com/ros-controls/realtime_tools.git
Expand Down
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