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Not possible with the current driver, and it turns out there is already a ticket on this: #4688.

It seems like what should be done is to implement the (somewhat obscure, IMO) ~tf_prefix parameter (which if I understand correctly, should always be implemented by producers of tf data.. maybe someone can comment). So in my case I set tf_prefix to, e.g., "pelican1", and the frame_id's of the published point cloud and images are /pelican1/<original_frame_id>.

The rewrite branch of the driver appears to have the capability to set the frame names directly via a parameter which is even more flexible than tf_prefix, however it seems that tf_prefix should still be implemented.

Not possible with the current driver, and it turns out there is already a ticket on this: #4688.

It seems like what should be done is to implement the (somewhat obscure, IMO) ~tf_prefix parameter (which if I understand correctly, should always be implemented by producers of tf data.. maybe someone can comment). So in my case I set tf_prefix to, e.g., "pelican1", and the frame_id's of the published point cloud and images are /pelican1/<original_frame_id>.

The rewrite branch of the driver appears to have the capability to set the frame names directly via a parameter which is even more flexible than tf_prefix, however it seems that tf_prefix should still be implemented.