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Well yes, you are right. You cannot work with the original tf tree. But there is a parameter called tf_prefix which kind of does the same as namespaces with the tf frames. With that you can push even the kinect tf frame such you can have multiple kinects in your system working on the same level (on the same logical level). I did a first testrun yesterday and it worked fine! Two turtlebots in parallel. Although the system became a little stressed I guess due to the many tf frames that are by definition shared among all nodes of the two bots. I currently consider to remap even the tf frames (on topic level) so that they don't have to be shared any more. This doesn't seem not to be a clean approach, but maybe necessary. - JBuesch

Well yes, you are right. You cannot work with the original tf tree. But there is a parameter called tf_prefix which kind of does the same as namespaces with the tf frames. With that you can push even the kinect tf frame such you can have multiple kinects in your system working on the same level (on the same logical level). I did a first testrun yesterday and it worked fine! Two turtlebots in parallel. Although the system became a little stressed I guess due to the many tf frames that are by definition shared among all nodes of the two bots. I currently consider to remap even the tf frames (on topic level) so that they don't have to be shared any more. This doesn't seem not to be a clean approach, but maybe necessary. - JBueschnecessary.

Well yes, you are right. You cannot work with the original tf tree. But there is a parameter called tf_prefix which kind of does the same as namespaces with the tf frames. With that you can push even the kinect tf frame such you can have multiple kinects in your system working on the same level (on the same logical level). I did a first testrun yesterday and it worked fine! Two turtlebots in parallel. Although the system became a little stressed I guess due to the many tf frames that are by definition shared among all nodes of the two bots. I currently consider to remap even the tf frames (on topic level) so that they don't have to be shared any more. This doesn't seem not to be a clean approach, but maybe necessary.