Changing tf_prefix for turtlebot
I know that similar questions were already asked here but I still haven't found an answer to my question. I would like to create a system of several turtlebots with different names (e.g. "pinky", "inky" etc). I need to navigate them and, therefore, I need different tf_prefix for each turtlebot. However, I don't know how to change the tf_prefix for odom frame. I changed the namespace by organizing each turtlebot in a separate group (e.g. group ns="pinky"). But when I set in a launch file, the odom frame remains unchanged. I had similar problems with turtlebot_gazebo; however, I solved it by writing group name and tf_prefix together. Nevertheless, this solution doesn't work for the real turtlebot. Here is my launch file:
<launch>
<!--Here I try to set the namespace and add tf_prefix-->
<group ns="pinky">
<param name="tf_prefix" value="pinky" />
<arg name="base" default="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, rhoomba -->
<arg name="battery" default="$(optenv TURTLEBOT_BATTERY /sys/class/power_supply/BAT0)"/> <!-- /proc/acpi/battery/BAT0 in 2.6 or earlier kernels-->
<arg name="stacks" default="$(optenv TURTLEBOT_STACKS hexagons)"/> <!-- circles, hexagons -->
<arg name="3d_sensor" default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> <!-- kinect, asus_xtion_pro -->
<arg name="simulation" default="$(optenv TURTLEBOT_SIMULATION false)"/>
<param name="/use_sim_time" value="$(arg simulation)"/>
<include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
<arg name="battery" value="$(arg battery)" />
</include>
</group>
</launch>
I am not able to attach photo, but here is the description of my tree:
odom pinky/base_footprint
| |
\/ \/
base_footprint pinky/base_link
|
/ | \
pinky/... pinky/... pinky/...
Could someone please help me solve this problem? Thanks in advance!