From 8c4b4ff892af299bd02fca5dd13612c5a60e760f Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Thu, 30 May 2024 15:52:14 -0700
Subject: [PATCH] allow overriding of the tf child frame ids so multiple
 instances of aruco_detect won't conflict

---
 aruco_detect/src/aruco_detect.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/aruco_detect/src/aruco_detect.cpp b/aruco_detect/src/aruco_detect.cpp
index 09da06e..14b74fe 100644
--- a/aruco_detect/src/aruco_detect.cpp
+++ b/aruco_detect/src/aruco_detect.cpp
@@ -95,6 +95,8 @@ class FiducialsNode {
 
     double fiducial_len;
 
+    std::string tf_prefix;
+
     bool doPoseEstimation;
     bool haveCamInfo;
     bool publishFiducialTf;
@@ -510,7 +512,7 @@ void FiducialsNode::poseEstimateCallback(const FiducialArrayConstPtr & msg)
                         ts.transform.rotation.z = q.z();
                         ts.header.frame_id = frameId;
                         ts.header.stamp = msg->header.stamp;
-                        ts.child_frame_id = "fiducial_" + std::to_string(ids[i]);
+                        ts.child_frame_id = tf_prefix + std::to_string(ids[i]);
                         broadcaster.sendTransform(ts);
                     }
                     else {
@@ -518,7 +520,7 @@ void FiducialsNode::poseEstimateCallback(const FiducialArrayConstPtr & msg)
                         ts.transform = ft.transform;
                         ts.header.frame_id = frameId;
                         ts.header.stamp = msg->header.stamp;
-                        ts.child_frame_id = "fiducial_" + std::to_string(ft.fiducial_id);
+                        ts.child_frame_id = tf_prefix + std::to_string(ft.fiducial_id);
                         broadcaster.sendTransform(ts);
                     }
                 }
@@ -614,6 +616,8 @@ FiducialsNode::FiducialsNode() : nh(), pnh("~"), it(nh)
     pnh.param<bool>("vis_msgs", vis_msgs, false);
     pnh.param<bool>("verbose", verbose, false);
 
+    pnh.param<std::string>("tf_prefix", tf_prefix, "fiducial_");
+
     std::string str;
     std::vector<std::string> strs;