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I have added the tf_prefix to my robot state publisher node. All my frames have been pushed down accordingly.

My launch file is as follows:

<!-- robot urdf model -->
<param name="robot_description" command="cat $(find urdf_pkg)/urdf/my_robot.urdf" />

<!-- robot state publisher node -->
<node pkg="robot_state_publisher"
  <param name="~tf_prefix" value="robot_name" type="str"/>

I have another node which publishes an odometry message. I have added as well the tf_prefix to its launch file. Common frames correctly match their names as I have seen in the resulting tf tree. However, the odometry message does not get updated with the tf_prefix. The msg.header.frame_id and msg.child_frame_id fields remain the same.

How can I push down frame ids from other topics than the tf::TransformBroadcaster, i.e. the odometry topic message?