Merge pull request #1391 from tkmtnt7000/PR-fix-map-frame-id-noetic

[Bugfix] [jsk_maps] Remove a slash from the first character of frame_id because map does not adjust map frame_id in noetic.

jsk_maps/src/dump-map-info.l

@@ -110,7 +110,10 @@ map_id: ~a"
         <param name=\"frame_id\" value=\"~a\"/>
       </node>~%"
             cntr (get-yaml-filename map :unresolve t :keepout t)
-            (send map :name) (send map :name))
+            (send map :name)
+            ;; When first charactor of map frame_id is slash in noetic,
+            ;; Something wrong occured on map and map tf adjustment
+            (string-left-trim "/" (send map :name)))
           (incf cntr))
           (format fd "    </group>~%")))
 
@@ -125,7 +128,10 @@ map_id: ~a"
         <param name=\"frame_id\" value=\"~a\"/>
       </node>~%"
               cntr (get-yaml-filename map :unresolve t :keepout nil)
-              (send map :name) (send map :name))
+              (send map :name)
+              ;; When first charactor of map frame_id is slash in noetic,
+              ;; Something wrong occured on map and map tf adjustment
+              (string-left-trim "/" (send map :name)))
             (incf cntr))
           (format fd "    </group>~%"))
         (dolist (map floors)
@@ -135,7 +141,10 @@ map_id: ~a"
       <param name=\"frame_id\" value=\"~a\"/>
     </node>~%"
             cntr (get-yaml-filename map :unresolve t)
-            (send map :name) (send map :name))
+            (send map :name)
+            ;; When first charactor of map frame_id is slash in noetic,
+            ;; Something wrong occured on map and map tf adjustment
+            (string-left-trim "/" (send map :name)))
           (incf cntr)))
 
       ;; multi map server

jsk_maps/tools/publish_scene.l

@@ -40,7 +40,7 @@
 
 (defun publish-scene (&key (alpha 1.0) (lifetime 0))
   (let* ((stamp (ros::time-now))
-         (header (instance std_msgs::header :init :stamp stamp :frame_id "/world"))
+         (header (instance std_msgs::header :init :stamp stamp :frame_id "world"))
          current-map-coords scene msg)
 
     (unless (ros::get-topic-publisher *pub-scene-marker-topic*)