>
>
> Also, how can I provide a tf prefix for the /robot_description parameter?
>  Now, my Robot Model in rviz doesn't display my robot because of this error:
> "No transform from [base] to [/worldBase]".
>
>
In cturtle you set the "TF Prefix" option in the RobotModel display.  There
was no per-display support for it in boxturtle, but you can set the
~tf_prefix parameter on the rviz node.

Josh