/map not connecting to tf links for loading multiple robots in rviz
I am trying to load two robots in Gazebo and visualize them in Rviz to eventually do a leader-follower application. I believe I have the robots initialized in Gazebo correctly and mostly in Rviz, but am having trouble getting the /map topic to link up to either of the robots. I can teleop with the robots separately in Gazebo using their respective namespaces. I am simulating using a turtlebot3 waffle_pi. I'm thinking the problem has something to do with remapping from "map" to "/map" or in how my amcl node is called under the tf_prefixes for my two robots.
From running rosrun rqt_graph rqt_graph I can see that both of my two robots are initialized with their respective connections to /tf and /gazebo. (would upload output image but not enough user points).
From running rosrun tf view_frames I can see that both robots have root parents of "bot1_tf/odom" and "bot2_tf/odom" where "botX_tf" is the tf_prefix. The children connections seem to match output from running a single robot in Gazebo/Rviz. The only thing different seems to be that "/map" is the parent for "/odom" for the single robot, while there is no "/map" parent for the two robots.
Upon loading Rviz I see a green check next to URDF making me thing Rviz is reading in the model correctly, though all other tf topics have errors. When I manually enter either tf_prefix in the "TF Prefix" field in Rviz under "RobotModel" I see errors saying "No transform from [tf_prefix/base_footprint] to [map]" and so on for the other tf topics (base_footprint, base_link, base_scan, camera_link, camera_rgb_frame, camera_rgb_optical_frame, caster_back_left_link, caster_back_right_link, imu_link, wheel_left_link, wheel_right_link).
Running rosnode list results in the following:
/bot1/amcl
/bot1/move_base
/bot1/robot_state_publisher
/bot2/amcl
/bot2/move_base
/bot2/robot_state_publisher
/gazebo
/gazebo_gui
/map_server
/rosout
/rviz
Running rostopic list results in the following:
/bot1/amcl_pose
/bot1/camera/parameter_descriptions
/bot1/camera/parameter_updates
/bot1/camera/rgb/camera_info
/bot1/camera/rgb/image_raw
/bot1/camera/rgb/image_raw/compressed
/bot1/camera/rgb/image_raw/compressed/parameter_descriptions
/bot1/camera/rgb/image_raw/compressed/parameter_updates
/bot1/camera/rgb/image_raw/compressedDepth
/bot1/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/bot1/camera/rgb/image_raw/compressedDepth/parameter_updates
/bot1/camera/rgb/image_raw/theora
/bot1/camera/rgb/image_raw/theora/parameter_descriptions
/bot1/camera/rgb/image_raw/theora/parameter_updates
/bot1/cmd_vel
/bot1/imu
/bot1/initialpose
/bot1/joint_states
/bot1/move_base/current_goal
/bot1/move_base/goal
/bot1/move_base_simple/goal
/bot1/odom
/bot1/particlecloud
/bot1/scan
/bot2/amcl_pose
/bot2/camera/parameter_descriptions
/bot2/camera/parameter_updates
/bot2/camera/rgb/camera_info
/bot2/camera/rgb/image_raw
/bot2/camera/rgb/image_raw/compressed
/bot2/camera/rgb/image_raw/compressed/parameter_descriptions
/bot2/camera/rgb/image_raw/compressed/parameter_updates
/bot2/camera/rgb/image_raw/compressedDepth
/bot2/camera/rgb/image_raw/compressedDepth/parameter_descriptions /bot2/camera/rgb/image_raw/compressedDepth/parameter_updates
/bot2/camera/rgb/image_raw/theora
/bot2/camera/rgb/image_raw/theora/parameter_descriptions
/bot2/camera/rgb/image_raw/theora/parameter_updates
/bot2/cmd_vel
/bot2/imu
/bot2/initialpose
/bot2/joint_states
/bot2/move_base/current_goal
/bot2/move_base/goal
/bot2/move_base_simple/goal
/bot2/odom
/bot2/particlecloud
/bot2/scan
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/map ...
