normalization logic reverted to original

Author: kuralme

control_toolbox/include/control_toolbox/tf_utils.hpp

@@ -51,17 +51,19 @@ inline std::string apply_tf_prefix(
 {
   std::string nprefix = prefix.empty() ? node_ns : prefix;
 
-  // normalize: remove leading '/' and ensure trailing '/'
+  // Normalize the prefix
   if (!nprefix.empty())
   {
-    if (nprefix.front() == '/')
-    {
-      nprefix.erase(0, 1);
-    }
+    // ensure trailing '/'
     if (nprefix.back() != '/')
     {
       nprefix.push_back('/');
     }
+    // remove leading '/'
+    if (nprefix.front() == '/')
+    {
+      nprefix.erase(0, 1);
+    }
   }
   return nprefix + frame;
 }

control_toolbox/test/tf_utils_tests.cpp

@@ -33,34 +33,37 @@
 #include <gmock/gmock.h>
 #include "control_toolbox/tf_utils.hpp"
 
-TEST(ApplyTFPrefixTest, EmptyExplicitUsesNamespace)
+TEST(ApplyTFPrefixTest, UsesNamespaceWhenPrefixEmpty)
 {
-  EXPECT_EQ(control_toolbox::apply_tf_prefix("", "/my_ns", "odom"), "my_ns/odom");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("", "/ns", "odom"), "ns/odom");
 }
 
-TEST(ApplyTFPrefixTest, ExplicitPrefixUsed)
+TEST(ApplyTFPrefixTest, UsesExplicitPrefix)
 {
-  EXPECT_EQ(control_toolbox::apply_tf_prefix("robot1", "/ns", "base"), "robot1/base");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("robot", "/ns", "base"), "robot/base");
 }
 
-TEST(ApplyTFPrefixTest, LeadingSlashRemoved)
+TEST(ApplyTFPrefixTest, NormalizesPrefixSlashes)
 {
-  EXPECT_EQ(control_toolbox::apply_tf_prefix("/robot2", "/ns", "link"), "robot2/link");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("/robot1", "/ns", "link"), "robot1/link");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("robot2//", "/ns", "odom"), "robot2//odom");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("/robot3/", "/ns", "base_link"), "robot3/base_link");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("/", "/ns", "odom"), "odom");
 }
 
-TEST(ApplyTFPrefixTest, TrailingSlashAdded)
+TEST(ApplyTFPrefixTest, EmptyPrefixAndNamespace)
 {
-  EXPECT_EQ(control_toolbox::apply_tf_prefix("robot3", "/ns", "odom"), "robot3/odom");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("", "", "odom"), "odom");
 }
 
-TEST(ApplyTFPrefixTest, BothSlashesNormalized)
+TEST(ApplyTFPrefixTest, FrameHasLeadingSlash)
 {
-  EXPECT_EQ(control_toolbox::apply_tf_prefix("/robot4/", "/ns", "base_link"), "robot4/base_link");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("robot", "/ns", "/odom"), "robot//odom");
 }
 
-TEST(ApplyTFPrefixTest, NodeNamespaceWithSlash)
+TEST(ApplyTFPrefixTest, ComplexPrefixAndNamespace)
 {
-  EXPECT_EQ(control_toolbox::apply_tf_prefix("", "/robot_ns/", "odom"), "robot_ns/odom");
+  EXPECT_EQ(control_toolbox::apply_tf_prefix("/robot/", "/my_ns/", "odom"), "robot/odom");
 }
 
 int main(int argc, char ** argv)