Re-naming mavros frames

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Hello,

I have a system with two pichawks and a robotic arm. I am facing an issue in setting up the tfs necessary as both pixhawk's body frame is named base_link and the base frame of the arm is also named base_link. Ideally I would like to rename the body frames of the pixhawks but am unsure of how to do so. I have tried to modify the config.yaml file and the parameter does appear changed, however after I do a rosrun rqt_tf_tree rqt_tf_tree the frame names still appear to be base_link.

Any help would be much appreciated!