The ROS middleware creates one ROS-node called “morse” and on ROS topic for every sensor and every actuator. The names of the ROS-topics are generated in the following way: <name_of_parent_blender_object>/<name_of_blender_object>.
For instance, if you have an odometry sensor called “odometry” on a robot called “atrv”, the ROS Odometry messages will be published on /atrv/odometry.
When configuring a component to export its data through ROS, you can pass the option topic to define the name of the topic exported by the component.
foo.add_stream('ros', topic = '/robot/myTopic')
The same way, you can set a custom frame_id and child_frame_id:
foo.add_stream('ros', frame_id = '/world', child_frame_id = '/footprint')