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Hi,

The parameter robot_base_frame defaults to base_link which is on the error message you are getting. So I think you are not setting the correct parameter. You need to include the namespaces of both local and global costmaps, as well as the robot name when setting the parameter, something like

<param name="$(arg robot_name)/move_base/global_costmap/robot_base_frame" value="$(arg robot_name)/base_footprint" />

Of course you should double check the parameter names. You can verify the name and value of each parameter on the parameter server, using rosparam list and rosparam get commands.

A work around this, is to create different costmap configuration files for each robot, including the robot's name at the end. Then I can call them on the launch files.

Regards,