removed leading slash for tf frames to avoid problems with tf2 migration #818
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see here for some related information: http://wiki.ros.org/tf2/Migration#Removal_of_support_for_tf_prefix
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see here for some related information:
http://wiki.ros.org/tf2/Migration#Removal_of_support_for_tf_prefix
The problem became obvious when we migrated from kinetic to melodic, where we ran into errors from the ROS navigation stack (move_base), I assume they also migrated from tf to tf2, which was causing those issues.
I tried to find all places in the source base that have a leading slash and corrected it.