deprecated tf prefix flag

- log message added if tf_frame_prefix_enable is not set default
- relevant info added to yaml description, migration and release notes

Author: kuralme

diff_drive_controller/src/diff_drive_controller.cpp

@@ -405,6 +405,17 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
       }
     });
 
+  // deprecation warning if tf_frame_prefix_enable set to non-default value
+  const bool default_tf_frame_prefix_enable = true;
+  if (params_.tf_frame_prefix_enable != default_tf_frame_prefix_enable)
+  {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "Parameter 'tf_frame_prefix_enable' is DEPRECATED and set to a non-default value (%s). "
+      "Please migrate to 'tf_frame_prefix'.",
+      params_.tf_frame_prefix_enable ? "true" : "false");
+  }
+
   // initialize odometry publisher and message
   odometry_publisher_ = get_node()->create_publisher<nav_msgs::msg::Odometry>(
     DEFAULT_ODOMETRY_TOPIC, rclcpp::SystemDefaultsQoS());

diff_drive_controller/src/diff_drive_controller_parameter.yaml

@@ -49,7 +49,7 @@ diff_drive_controller:
   tf_frame_prefix_enable: {
     type: bool,
     default_value: true,
-    description:  "Enables or disables appending tf_prefix to tf frame id's.",
+    description:  "Deprecated: this parameter will be removed in a future release. Use 'tf_frame_prefix' instead.",
   }
   tf_frame_prefix: {
     type: string,

doc/migration.rst

@@ -4,3 +4,8 @@ Migration Guides: Kilted Kaiju to Lyrical Luth
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases, where changes to user code might be necessary.
+
+diff_drive_controller
+*****************************
+* Remove unused parameter ``tf_frame_prefix_enable``, use ``tf_frame_prefix`` instead. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
+* Now any tilde ("~") character in ``tf_frame_prefix`` is substituted with node namespace. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).

doc/release_notes.rst

@@ -4,3 +4,8 @@ Release Notes: Kilted Kaiju to Lyrical Luth
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.
+
+diff_drive_controller
+*****************************
+* Remove unused parameter ``tf_frame_prefix_enable``, use ``tf_frame_prefix`` instead. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
+* Now any tilde ("~") character in ``tf_frame_prefix`` is substituted with node namespace. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).