frame_ids should have no prepended slashes

Author: Timple

README.md

@@ -74,7 +74,7 @@ Give a 2D-goal in rviz to start path planning algorithm
 
 Depends on:
 
-[mobile_robot_simulator](https://github.com/mrath/mobile_robot_simulator.git) that integrates /cmd_vel into a /base_link TF-frame and an odometry publisher
+[mobile_robot_simulator](https://github.com/mrath/mobile_robot_simulator.git) that integrates /cmd_vel into a base_link TF-frame and an odometry publisher
 
 [tracking_pid](https://github.com/nobleo/tracking_pid/) Global path tracking controller
 
@@ -172,4 +172,4 @@ More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
      alt="eu_flag" height="45" align="left" >
 
 This project has received funding from the European Union’s Horizon 2020
-research and innovation programme under grant agreement no. 732287.
+research and innovation programme under grant agreement no. 732287.

test/full_coverage_path_planner/test_full_coverage_path_planner.launch

@@ -41,7 +41,7 @@
 
     <!--We need a map to fully cover-->
     <node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
-        <param name="frame_id" value="/map"/>
+        <param name="frame_id" value="map"/>
     </node>
 
     <!--Tracking_pid cannot just accept a nav_msgs/Path, it can only go to a PoseStamped,

test/full_coverage_path_planner/test_full_coverage_path_planner_plugin.launch

@@ -25,7 +25,7 @@
 
     <!--We need a map to fully cover-->
     <node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
-        <param name="frame_id" value="/map"/>
+        <param name="frame_id" value="map"/>
     </node>
 
     <!-- Mobile robot simulator -->

test/full_coverage_path_planner/test_full_coverage_path_planner_system.py

@@ -45,8 +45,8 @@ def test_tracking_pid(self):
         """
         p1_msg = rospy.wait_for_message("trajectory", traj_point, timeout=5)
         p1_yaw = self.quaternion_to_yaw(p1_msg.pose.pose.orientation)
-        self.listener.waitForTransform('/map', '/base_link', rospy.Time(0), rospy.Duration(1.0))
-        (trans1, rot1) = self.listener.lookupTransform('/map', '/base_link', rospy.Time(0))
+        self.listener.waitForTransform('map', 'base_link', rospy.Time(0), rospy.Duration(1.0))
+        (trans1, rot1) = self.listener.lookupTransform('map', 'base_link', rospy.Time(0))
         rospy.sleep(2.0)
         p2_msg = rospy.wait_for_message("trajectory", traj_point, timeout=5)
         p2_yaw = self.quaternion_to_yaw(p2_msg.pose.pose.orientation)