some problems

[WLXM0922]

Hello, thank you for your contribution. I encountered some problems when I reappeared your work recently, and I look forward to your reply.
First of all, in the dead_reckoning.py file, it seems that you don't have the initialization parameter self.rov_id, which makes it impossible to correctly publish the transformation from odom coordinate system to base_link coordinate system of each robot.
Next，when I run roslaunch draco_slam slam.launch, I open a new terminal to run roabag play sample_data_three_robot.bag, and it displays "unknown frame world" in rviz.
However, the launch file of each rov has the following definition: .
Why is it wrong to report "unknown frame world"? I would appreciate it if you could give me some advice.