When having multiple cameras e.g. camera and camera2 I would expect the corresponding camera base frames to be camera/camera_link and camera2/camera_link. But instead, camera frames are generated as
$(arg tf_prefix)/$(arg camera)_XXX
which results in camera/camera_link and camera2/camera2_link. IMO, camera frames should be generated like the following, as this is more intuitive. In other words, only the tf_prefix should be taken into account when generating frame names.
$(arg tf_prefix)/camera_XXX
When having multiple cameras e.g.
cameraandcamera2I would expect the corresponding camera base frames to becamera/camera_linkandcamera2/camera_link. But instead, camera frames are generated aswhich results in
camera/camera_linkandcamera2/camera2_link. IMO, camera frames should be generated like the following, as this is more intuitive. In other words, only thetf_prefixshould be taken into account when generating frame names.