Each frame can only have 1 parent but can have many children. That's why I want to go from here:

to here:

i.e, I want to create a copy of ardronebaselink, that is in the same place and moves in the same way that ardronebaselink, but has a different transform (given by the robot_localization package)

How can I do that?

Would that fix my problem of having 2 different transforms from odom to baselink? I suppose I need the one given by ardronedriver because it also broadcasts between base_link and the bottom and front camera. Is that right?

Or do you think that something like this would work better?

Would the broadcaster between ardronebaselink and the bottom and front camera still work when the transform between odom and base_link is given by other broadcaster?

This is the output of roswtf:

ERROR TF multiple authority contention:
 * node [/ekf_localization] publishing transform [ardrone_base_link] with parent [odom] already published by node [/ardrone_driver]
 * node [/ardrone_driver] publishing transform [ardrone_base_link] with parent [odom] already published by node [/ekf_localization]

(what I called robotlocalization is ekflocalization)

Edited:

I think I found a solution, just changing the parameter of the baselink in the robotlocalization. But the odometry given by ardronedriver and the one given by ekflocalization are very different.

The problem is that I never defined ardronebaselink_copy. Is that OK?