Publishing every frame of a turtlebot3 waffle under a namespace

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Hello,

I'm working on ros noetic on Ubuntu 20.04, and I'm trying to get my robot_state_publisher node to have each frame published with "/tb3_0" before it. For example, instead of the frames being /odom, /base_footprint, /base_link, etc.. it would be /tb3_0/odom, /tb3_0/base_footprint, and /tb3_0/base_link. Below is my launch file:

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>
  <arg name="third_tb3"  default="tb3_2"/>

  <arg name="first_tb3_x_pos" default="-7.0"/>
  <arg name="first_tb3_y_pos" default="-1.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 1.57"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include> 

  <param name="robot_description" command="$(find xacro)/xacro --inorder 
      $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" 
     output="screen">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" value="$(arg first_tb3)" />
    <remap from="tf" to="tf_old"/>
  </node>

  <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
    <rosparam param="mappings">
      [{old: odom, new: tb3_0/odom}, {old: base_footprint, new: tb3_0/base_footprint},
       {old: base_link, new: tb3_0/base_link}, {old: base_scan, new: tb3_0/base_scan}, 
       {old: caster_left_link, new: tb3_0/caster_left_link}, 
       {old: caster_right_link, new: tb3_0/caster_right_link},
       {old: imu_link, new: tb3_0/imu_link}, 
       {old: wheel_left_link, new: tb3_0/wheel_left_link}, 
       {old: wheel_right_link, new: tb3_0/wheel_right_link},
       {old: camera_link, new: tb3_0/camera_link}, 
       {old: camera_depth_frame, new: tb3_0/camera_depth_frame},
       {old: camera_depth_optical_frame, new: tb3_0/camera_depth_optical_frame},
       {old: camera_rgb_frame, new: tb3_0/camera_rgb_frame}, 
       {old: camera_rgb_optical_frame, new: tb3_0/camera_rgb_optical_frame}]
    </rosparam>
  </node>

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) 
    -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) 
    -Y $(arg first_tb3_yaw) -param robot_description" />

</launch>

From the tf wiki(http://wiki.ros.org/tf#tf_remap), it says for to remap tf frames from an old name to a new name, it subscribes to /tf_old, so in my /robot_state_publisher node, I remap from "tf" to "tf_old" so the tf_remap can listen to this topic and rename the frames. However, when I provide the list of frames to rename, my tf tree output looks like the following:

output of $ rosrun tf view_frames

It seems to only rename base_link to tb3_0/base_link renamed by the tf_remapper node but all the other frames have the same name and only have the wheel links attached to it(without their names changed). I was wondering how I can solve this issue.

I also wanted to do this in a group namespace, because I ultimately want 3 robots all publishing their unique frames under namespaces, and I also want to include a robot that has non-static joints added(will use a joint_state_publisher for each). However, if I try this ... (more)