tf2: Standardize a convention to replace the tf_prefix API

[jbohren]

The migration guide leaves this as a "longer term solution" but I think there are a lot of people who use and rely on tf_prefix for multi-robot (even single-master) systems, like modular robots. I think having a way to scope a node, or a component, or a namespace to a specific TF namespace is too common a problem to leave to each individual application.

[NikolausDemmel]

Are there any ideas how this should look like?

The tf2 design page still mentions tf_prefix as the solution for multiple robots. It later contradicts this by stating that tf_prefix has been removed.

[ghost]

Just wondering if there has been any update or workaround for this? I am dealing with a multi-robot simulation that implements moveit, and I came across this issue on moveit's repository which is caused by the deprecation of tf_prefix.

[Toms42]

Any updates on a replacement? Since tf was deprecated it seems there is no way to apply a prefix from a launchfile and instead it has to be manually added in the code?

[agoeckner]

Has anybody given further thought to this?