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nh_private.param("output_frame", output_frame_, std::string("odom_combined"));
nh_private.param("sensor_timeout", timeout_, 1.0);
nh_private.param("odom_used", odom_used_, true);
nh_private.param("imu_used",  imu_used_, true);
nh_private.param("vo_used",   vo_used_, true);
nh_private.param("debug",   debug_, false);
nh_private.param("self_diagnose",  self_diagnose_, false);
double freq;
nh_private.param("freq", freq, 30.0);

These are the parameters that you can change ( code is from odom_estimation_node.cpp in the source directory of robot_pose_ekf )

Seems like you can not change base frame id as a parameter. You can change it by hand and recompile the source. I am not very sure if you can remap tf frames but I checked here, it is not possible right now i guess

nh_private.param("output_frame", output_frame_, std::string("odom_combined"));
nh_private.param("sensor_timeout", timeout_, 1.0);
nh_private.param("odom_used", odom_used_, true);
nh_private.param("imu_used",  imu_used_, true);
nh_private.param("vo_used",   vo_used_, true);
nh_private.param("debug",   debug_, false);
nh_private.param("self_diagnose",  self_diagnose_, false);
double freq;
nh_private.param("freq", freq, 30.0);

These are the parameters that you can change ( code is from odom_estimation_node.cpp in the source directory of robot_pose_ekf )

Seems like you can not change base frame id as a parameter. You can change it by hand manually and recompile the source. I am not very sure if you can remap tf frames but I checked here, it is not possible right now i guess