How to change tf frame id for turtlebot3?

edit

I could not find where parent frame id and child frame id come from. So, I want to know the frame id's source. I tried to change tf_prefix. And I tried to separate groups.

Here is the description of my tree. Please give me anwser.

                             odom                             pinky/base_footprint
                               |                                       |
                              \/                                      \/
                       base_footprint                          pinky/base_link
                                                                      |
                                                    /                 |       \
                                               pinky/...        pinky/...   pinky/...