From c46bc38c290648167efc14ad0abe0d0c8651aa21 Mon Sep 17 00:00:00 2001
From: Darren Churchill <darrenmchurchill@gmail.com>
Date: Sat, 9 Mar 2019 20:49:00 -0700
Subject: [PATCH 1/2] Set the base_link_frame_output param with a rovername
 prefix in the sim.

---
 launch/swarmie.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/launch/swarmie.launch b/launch/swarmie.launch
index 0e2f0eb1..8e701461 100644
--- a/launch/swarmie.launch
+++ b/launch/swarmie.launch
@@ -28,6 +28,7 @@
       <param name="imu0" value="/$(arg name)/imu" />
       <param name="two_d_mode" value="true" />
       <param name="world_frame" value="odom" />
+      <param name="base_link_frame_output" value="$(arg name)/base_link" />
       <param name="frequency" value="10" />
 
       <rosparam param="odom0_config">[false, false, false,
@@ -80,6 +81,7 @@
       <param name="imu0" value="/$(arg name)/imu" />
       <param name="two_d_mode" value="true" />
       <param name="world_frame" value="map" />
+      <param name="base_link_frame_output" value="$(arg name)/base_link" />
       <param name="frequency" value="10" />
 
       <rosparam param="odom0_config">[true, true, false,

From 9d3cf62a378b5be3125d945aa27630b35126af6e Mon Sep 17 00:00:00 2001
From: Darren Churchill <darrenmchurchill@gmail.com>
Date: Sat, 9 Mar 2019 21:22:16 -0700
Subject: [PATCH 2/2] Set the base_link_frame_output parameter for the physical
 rover.

---
 misc/rover_onboard_node_launch.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/misc/rover_onboard_node_launch.sh b/misc/rover_onboard_node_launch.sh
index 4ef23927..62f5b3a6 100755
--- a/misc/rover_onboard_node_launch.sh
+++ b/misc/rover_onboard_node_launch.sh
@@ -115,7 +115,7 @@ rosparam set /$HOSTNAME\_ODOM/odom0 /$HOSTNAME/odom
 rosparam set /$HOSTNAME\_ODOM/imu0 /$HOSTNAME/imu
 rosparam set /$HOSTNAME\_ODOM/odom0_config [false,false,false,false,false,false,true,false,false,false,false,true,false,false,false]
 rosparam set /$HOSTNAME\_ODOM/imu0_config [false,false,false,false,false,true,false,false,false,false,false,true,true,false,false]
-nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=odom _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &
+nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=odom _base_link_frame_output:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &
 
 rosparam set /$HOSTNAME\_MAP/odom0 /$HOSTNAME/odom/navsat
 rosparam set /$HOSTNAME\_MAP/odom1 /$HOSTNAME/odom/filtered
@@ -157,7 +157,7 @@ rosparam set $HOSTNAME\_MAP/process_noise_covariance "[0.005, 0, 0, 0, 0, 0, 0,
                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0,  /
                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1]"
 
-nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=map _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &
+nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=map _base_link_frame_output:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &
 
 throttle()
 {