Parameter base_frame_id moved from yaml to launch, to be able to use ns argument

config/default_config.yaml

 # sensor information
-base_frame_id: "ana/base_footprint"
+#base_frame_id: "ana/base_footprint"
 min_range: 0.1
 max_range: 50.0
 sensor_height: 0.3

launch/node.launch

@@ -7,6 +7,7 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
+  <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
 
   <group ns="$(arg ns)">
 
@@ -17,6 +18,7 @@
           launch-prefix="$(arg launch_prefix)">
       <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
       <rosparam file="$(arg config_file)" command="load"/>
+      <param name="base_frame_id" value="$(arg base_frame_id)"/>
     </node>
 
   </group>

launch/nodelet.launch

@@ -8,6 +8,7 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
+  <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
 
   <group ns="$(arg ns)">
 
@@ -18,6 +19,7 @@
           output="$(arg output)">
       <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
       <rosparam file="$(arg config_file)" command="load"/>
+      <param name="base_frame_id" value="$(arg base_frame_id)"/>
     </node>
 
   </group>