HI! So I wanted to test out the and tf_prefix on one robot before doing 2.

The robot driver file is this: https://github.com/AutonomyLab/create_autonomy

This is my launch file:

<launch>
<node pkg="imu" type="imu" name="imu"/>
<group ns="robot_0">
<param name="tf_prefix" value="robot_0" />
<include file="$(find ca_driver)/launch/create_2.launch"/>
</group>
</launch>

I did not get any errors although for some reason the robot model isn't showing at all. Also, I couldn't view leftwheel and rightwheel_link tf on rviz.

Do I need to change my urdf files? Maybe something like:

<link name="$(tf_prefix)base_link"/>

and for base_footprint and all link?

Also, I think the problem is I have a basefootprint and a robot0/base_footprint

the odom is going to the basefootprint while the robot0/basefootprint is going to robot0/base_link

EDIT:

So I went directly into the config and

change frame from basefootprint to "robot0/base_footprint"

and

odom to "robot_0/odom"

it seemed to work because tf tree goes from robot0/odom to robot0/basefootprint to robot0/base_link to all the links

BUT the robot model urdf is still not showing

EDIT 2:

When I ran rviz, sometimes it gave me this error:

Message from [/robot_0/ca_driver] has a non-fully-qualified frame_id [robot_0/odom]. Resolved locally to [robot_0/odom].  This is will likely not work in multi-robot systems.

Usually I don't have too much problem with robot model not appear as long as the tf of baselink is there. However, when I start the amcl with urgnode, it doesn't localize as well as if I just not use tf_prefix.

Also, I notice that I under robot model in rviz, there are links, but when I use tfprefix there aren't any, does that mean that I need to add tfprefix before each link in the urdf file?

Any help is appreciated! Thank you!!!

...
  <!-- HUSKY -->
  <group ns="husky">
  <param name="tf_prefix" value="husky" />
  <param name="robot_description" command="$(find xacro)/xacro '$(find erl_simulations)/models/husky.urdf.xacro'" />

  <include file="$(find erl_simulations)/launch/spawn_husky.launch">
    <arg name="x" value="-10.0"/>
    <arg name="y" value="-15.0"/>
  </include>
  </group>
...