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It looks it is not implemented.

I directly implemented it and I have sent a pull request to the stage_ros git repository:

https://github.com/ros-simulation/stage_ros/pull/38

Applying this pull request it is directly possible to change the values of the frames through the local parameters called:

"odom_frame_id", "base_frame_id", "base_frame_footprint_id" and "base_laser_frame_id"

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