From 84f943243bb70e87ff7bc156c81b6d4955d4bf3b Mon Sep 17 00:00:00 2001
From: Alexey Simonov <alexey.simonov@gmail.com>
Date: Fri, 4 Sep 2026 23:15:07 +0400
Subject: [PATCH] Drop the leading slashes from the rover odometry frame names
 (#45).

ROS 2 tf2 frame ids must not start with a slash. The demos' odom_tf_publisher
nodes copy the frame names from the odometry message into /tf, so the transform
went out as /odom -> /base_footprint and only resolved because tf2 strips the
slashes on the way in. Both the lunar pole and curiosity models are changed;
nothing consumes the slashed names on purpose.
---
 models/curiosity_path/urdf/curiosity_mars_rover.gazebo        | 4 ++--
 .../urdf/lunar_pole_exploration_rover.gazebo                  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index 883e8b2..438f554 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -139,8 +139,8 @@
       </plugin>
 
       <plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
-          <odom_frame>/odom</odom_frame>
-          <robot_base_frame>/base_footprint</robot_base_frame>
+          <odom_frame>odom</odom_frame>
+          <robot_base_frame>base_footprint</robot_base_frame>
           <odom_publish_frequency>10</odom_publish_frequency>
       </plugin>
 
diff --git a/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo b/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo
index ae37bb3..030c5c1 100644
--- a/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo
+++ b/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo
@@ -91,8 +91,8 @@
         </plugin>
 
         <plugin filename="${system_prefix}-odometry-publisher-system" name="${system_namespace}::systems::OdometryPublisher">
-            <odom_frame>/odom</odom_frame>
-            <robot_base_frame>/base_footprint</robot_base_frame>
+            <odom_frame>odom</odom_frame>
+            <robot_base_frame>base_footprint</robot_base_frame>
             <odom_publish_frequency>10</odom_publish_frequency>
         </plugin>