From 0da0f960c9326a229282aba78c46b34f9e8eebf0 Mon Sep 17 00:00:00 2001
From: maker-ATOM <aditya@aditya-ubuntu-20.04>
Date: Mon, 12 Feb 2024 15:11:11 +0530
Subject: [PATCH] tf_frame arguments

---
 turtlebot3_gazebo/launch/multi_turtlebot3.launch | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/turtlebot3_gazebo/launch/multi_turtlebot3.launch b/turtlebot3_gazebo/launch/multi_turtlebot3.launch
index abb11f5c..75fb4910 100644
--- a/turtlebot3_gazebo/launch/multi_turtlebot3.launch
+++ b/turtlebot3_gazebo/launch/multi_turtlebot3.launch
@@ -29,7 +29,8 @@
   </include>  
 
   <group ns = "$(arg first_tb3)">
-    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro
+    base_footprint_frame:='$(arg first_tb3)/base_footprint' odom_frame:='$(arg first_tb3)/odom'" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
       <param name="publish_frequency" type="double" value="50.0" />
@@ -40,7 +41,8 @@
   </group>
 
   <group ns = "$(arg second_tb3)">
-    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro
+    base_footprint_frame:='$(arg second_tb3)/base_footprint' odom_frame:='$(arg second_tb3)/odom'" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
       <param name="publish_frequency" type="double" value="50.0" />
@@ -51,7 +53,8 @@
   </group>
 
   <group ns = "$(arg third_tb3)">
-    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro
+    base_footprint_frame:='$(arg third_tb3)/base_footprint' odom_frame:='$(arg third_tb3)/odom'" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
       <param name="publish_frequency" type="double" value="50.0" />