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The competing is expected. In ROS robots are defined in a description file, most of the time stored as .urdf file in a <robot_name>_description package. In this case it is the turtlebot_description package. In the folder urdf/sensors you can find the files containing the coordinates of the xtion. Check which urdf your launch file is loading as there seems to be 2 description files for the xtion.

You can find those description files on your computer by typing

roscd turtlebot_description


I think it is not recommended to change stuff in /opt/ros/indigo/share/turtlebot_description where your turtlebot packages would be stored if you installed them using apt-get. You could clone the package in your catkin workspace and compile it by yourself and make the changes there.

The competing is expected. In ROS robots are defined in a description file, most of the time stored as .urdf file in a <robot_name>_description package. When you launch your robot, the robot_state_publisher will read those files and publish a tf tree.

In this case it the package you need is the turtlebot_description package. In the folder urdf/sensors you can find the files containing the coordinates of the xtion. Check which urdf your launch file is loading as there seems to be 2 description files for the xtion.

You can find those description files on your computer by typing

roscd turtlebot_description


I think it is not recommended to change stuff in /opt/ros/indigo/share/turtlebot_description where your turtlebot packages would be stored if you installed them using apt-get. You could clone the package in your catkin workspace and compile it by yourself and make the changes there.

The competing is expected. In ROS robots are defined in a description file, most of the time stored as .urdf file in a <robot_name>_description package. When you launch your robot, the robot_state_publisher will read those files and publish a tf tree. If you publish an additional transform between two parent-child nodes of that tree, there will be competition.

In this the case of the Turtlebot the package you need is the turtlebot_description package. In the folder urdf/sensors you can find the files containing the coordinates of the xtion. Check which urdf your launch file is loading as there seems to be 2 description files for the xtion.

You can find those description files on your computer by typing

roscd turtlebot_description


I think it is not recommended to change stuff in /opt/ros/indigo/share/turtlebot_description where your turtlebot packages would be stored if you installed them using apt-get. You could clone the package in your catkin workspace and compile compile/install it by yourself and make the changes there.