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Why does world frame get TF prefix?
Because there is a world
frame in the ur5_robot.urdf.xacro
file, which most likely gets loaded in both of your group
s.
See here. This is also a known issue with these .xacro
s: ros-industrial/universal_robot#284.
The world
frame is not an automatically added frame, it's something that either you, or one of the .xacro
s that you're loading needs to add.
In fact, it's not even a special frame: it's just a regular TF frame that happens to have a name you/we recognise as being something 'special'.