Okay so I want to change the frameid of odom to odom1 and frameid of baseframeid to be basefootprint1. So I went into the config of cadriver and change it. Then, when I went to rviz, it keeps giving me errors of

[ERROR] [1564418118.699473306]: Ignoring transform for child_frame_id "base_footprint1" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)

what else do I need to change for it to work? And should I change the urdf files too? Thanks!