I think that a tf_prefix is what you are looking for.

2010/9/8 Gonçalo Cabrita <goncabrita@gmail.com>:
> Hi everyone!
> I'm working with multiple robots and I'm using the wifi_comm node we
> developed here at the University to communicate between robots and with a
> laptop running rviz.
> Each robot is sending the following topics to the laptop running rviz...
> /move_base/local_costmap/robot_footprint
> /move_base/local_costmap/obstacles
> /move_base/local_costmap/inflated_obstacles
> /move_base/NavfnROS/plan
> The idea is to be able to see the whereabouts of each robot on the map,
> however what we are trying to do is not possible because of tf since rviz
> will not be able to access the tf frames in the headers of the msgs being
> shared. Is there a way to solve this?
> Thanks for the help in advance,
> Gonçalo Cabrita
> ISR - University of Coimbra
> Portugal
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