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The frame ID of the device is determined by the frame_id parameter passed to the driver. The default is /velodyne, but you can set it however you like.

The frame_id parameter passed to the transform nodelet (or node) sets the frame ID into which the data will be converted. The default is /odom, which is the ROS convention recommended by REP-0103 for mobile platforms. You can set that however you like, as well.

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