teb tutorial运行报错：TF Exception that should never happen for sensor frame:

使用teb做局部路径规划

在运行到：

roslaunch teb_local_planner_tutorials dyn_obst_corridor_scenario.launch

的时候，持续出现如下报错：

Warning: Invalid argument “/robot_0/base_laser_link” passed to canTransform argument source_frame in tf2 frame_ids cannot start with a ‘/’ like:
at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ERROR] [1612252812.105444878, 4.800000000]: TF Exception that should never happen for sensor frame: , cloud frame: /robot_0/base_laser_link, Invalid argument “/robot_0/base_laser_link” passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a ‘/’ like:

究其原因是navigation_stack在melodic更换了tf2，然而tf2在读取frame名字的时候，不能写成/name，而是要写成name

但是这个问题出在了stage_ros这个仿真器里。这个仿真器的源码已经好多年没人维护了。

要想正常使用，我们只能clone下来，对源码进行更改。

link:
https://github.com/ros-simulation/stage_ros/pull/63/commits/52d894eb3d322e7d86b380db6d8c4432a69ab8ab

链接是修改的版本，clone下来替换原来的stage_ros即可。