停止Gazebo odom->base_link的连接

vim /opt/ros/kinetic/share/gazebo_ros/launch/empty_world.launch

<!-- start gazebo server-->
  <node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen" 
    args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) $(arg world_name)">    
  <remap from="tf" to="gazebo_tf"/> //重映射tf
</node>