Declare tf_prefix

[Tacha-S]

Fixes #279

Description of the changes:

• Declare tf_prefix parameter.

Required before submitting a Pull Request:

• [x] I reviewed CONTRIBUTING.md
• [x] I built my changes locally
• [x] I tested my changes with a device
• [ ] I changed both the ROS1 and ROS2 branches

I tested changes on:

• [ ] Windows
• [x] Linux
• [ ] ROS1
• [x] ROS2