Could libgazebo_ros_p3d 'bodyName' be other frame_id?

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Hi all,

• We use libgazebo_ros_p3d to get ground truth in gazebo. There is a param bodyName config, this param always is base_footprint or base_link. Could this param be other frame_id? Such as we have a robot urdf loaded by robot_state_publisher, which has a velodyne frame.

• If we set bodyName = velodyne, does it mean this output topic pose's meaning is each velodyne frame with respect to the first velodyne frame?

• Thanks for your help and time.