title: How to use tf_remap?
body: <p>I have a <code>rosbag</code> in which a <code>/tf</code> topic is recorded.</p>
  <p>I need to remap all <code>tf</code> frames in that bag which refer to the frame named <code>/world</code> to refer to a new frame named <code>/vision</code>. I tried the following but it's unfortunately not working:</p>
  <pre><code>rosrun tf tf_remap _mappings:='[{old: /world, new: /vision}]'
  </code></pre>
  <p>Am I missing something?</p>
  <p>I have also tried to do it from a <em>launch file</em>:</p>
  <pre class="lang-xml prettyprint-override"><code>    &lt;launch&gt;
        &lt;node pkg=&quot;tf&quot; type=&quot;tf_remap&quot; name=&quot;tf_remapper&quot; output=&quot;screen&quot;&gt;
          &lt;rosparam param=&quot;mappings&quot;&gt;
            - {old: &quot;/world&quot;,
               new: &quot;/vision&quot;}
          &lt;/rosparam&gt;
        &lt;/node&gt;
      &lt;/launch&gt;
  </code></pre>
  <p>Same result...</p>
  <p>I found people saying that, in addition to running the <code>tf_remap</code> node, <code>rosbag</code> should be run as follows:</p>
  <pre><code>rosbag play x.bag /tf:=/tf_old
  </code></pre>
  <p>Also did that... still not working.</p>
  <p>The <code>tf_frame</code>s are still referring to <code>/world</code> rather than <code>/vision</code>.</p>
  <p>Any help would be highly appreciated!</p>
  <hr />
  <h3>Edit</h3>
  <p>This is to clarify more what I am trying to achieve:</p>
  <p>What I want is to remap all the frames recorded in the bag and referring to <code>/world</code>, and make them refer to <code>/vision</code> instead. There should be no <code>/world</code> frame in the remapped output of the bag. Somewhere else in the code, I will define the frame named <code>/world</code> and its relation to <code>/vision</code>.</p>