Update rusty.gazebo

Author: siddarth09

rusty_description/urdf/rusty.gazebo

@@ -7,7 +7,7 @@
 <gazebo>
   <plugin filename="libgazebo_ros_control.so" name="control"/>
 </gazebo>
-<gazebo reference="base_link">
+<gazebo reference="rusty_base">
   <material>${body_color}</material>
   <mu1>0.2</mu1>
   <mu2>0.2</mu2>
@@ -78,7 +78,7 @@
     <wheelSeparation>0.300</wheelSeparation>
     <wheelDiameter>0.100</wheelDiameter>
     <wheelAcceleration>0.3</wheelAcceleration>
-    <robotBaseFrame>base_link</robotBaseFrame>
+    <robotBaseFrame>rusty_base</robotBaseFrame>
     <torque>10</torque>
     <commandTopic>cmd_vel</commandTopic>
     <broadcastTF>true</broadcastTF>
@@ -199,8 +199,8 @@
     <plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
       <updateRate>40</updateRate>
       <robotNamespace>/</robotNamespace>
-      <bodyName>base_link</bodyName>
-      <frameId>base_link</frameId>
+      <bodyName>rusty_base</bodyName>
+      <frameId>rusty_base</frameId>
       <topicName>/navsat/fix</topicName>
       <velocityTopicName>/navsat/vel</velocityTopicName>
       <referenceLatitude>49.9</referenceLatitude>