How to set frame_id and child_frame_id from sdf?

[doisyg]

In the context of the diffdrive plugin, is there a way to set frame_id and child_frame_id from sdf ? Currently it seems to be auto-filled with the model and link name:

  frame->set_key("frame_id");
  frame->add_value(this->model.Name(_ecm) + "/odom");

and

    childFrame->set_key("child_frame_id");
    childFrame->add_value(this->model.Name(_ecm) + "/" + *linkName);

Same question for the sensors frame_id.
Did I miss something ? If not I will gladly PR a fix

[chapulina]

is there a way to set frame_id and child_frame_id from sdf ?

I don't think there's a way yet

If not I will gladly PR a fix

That would be appreciated. Just be sure to keep the current behaviour in case the user doesn't explicitly set the frame names 😉