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It would help us if you could also identify the goal of seeing this information. If you're trying to see this information in a terminal, you can use:

rosrun tf view_frames /map /odom

or

rosrun tf view_frames /map /base_link

If you're trying to do this in code, you can perform this lookup in code as well.

  // Look up transform between base link and the map frame.
  tf::StampedTransform xform;
  try
  {
    // The waypoint frame is the source frame
    tf_.lookupTransform("/map", "/base_link", ros::Time(0), xform);
  }
  catch (tf::TransformException ex)
  {
    ROS_ERROR("%s", ex.what());
  }