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If you want to use the regular rviz TF visualization plugin (http://wiki.ros.org/rviz/DisplayTypes/TF) you would need to republish your TransformStamped messages into TFMessage, which is just an array of TransformStampeds so isn't hard to do- you could make a python node to subscribe to TransformStamped and publish as TFMessage. (http://wiki.ros.org/topic_tools/transform also could work but I find starting a new python node easier than figure out the right transform command line)

Also if for some reason you didn't want to use the /tf or /tf_static topics for your TFMessage topic you could make rviz TF view them like this:

rosrun rviz rviz /tf:=/mytf_topic

(Because the rviz TF plugin is hard-coded to just use /tf, so remapping can force it to use a different topic)

If you want to use the regular rviz TF visualization plugin (http://wiki.ros.org/rviz/DisplayTypes/TF) you would need to republish your TransformStamped messages into as TFMessage, which is just an array of TransformStampeds so isn't hard to do- you could make a python node to subscribe to TransformStamped and publish as TFMessage. (http://wiki.ros.org/topic_tools/transform also could work but I find starting a new python node easier than figure out the right transform command line)

Also if for some reason you didn't want to use the /tf or /tf_static topics for your TFMessage topic you could make rviz TF view them like this:

rosrun rviz rviz /tf:=/mytf_topic

(Because the rviz TF plugin is hard-coded to just use /tf, so remapping can force it to use a different topic)

If you want to use the regular rviz TF visualization plugin (http://wiki.ros.org/rviz/DisplayTypes/TF) you would need to republish your TransformStamped messages as TFMessage, which is just an array of TransformStampeds so isn't hard to do- you could make a python node to subscribe to TransformStamped and publish as TFMessage. (http://wiki.ros.org/topic_tools/transform also could work but I find starting a new python node easier than figure out the right transform command line)

Also if for some reason you didn't want to use the /tf or /tf_static topics for your TFMessage topic you could make rviz TF view them like this:

rosrun rviz rviz /tf:=/mytf_topic /tf:=/my_tf_topic /tf_static:=/my_tf_static_topic

(Because the TransformListener used by rviz and the TF plugin is hard-coded to just use /tf, /tf and /tf_static, so remapping can force it to use a different topic)

If you want to use the regular rviz TF visualization plugin (http://wiki.ros.org/rviz/DisplayTypes/TF) you would need to republish your TransformStamped messages as TFMessage, which is just contains an array of TransformStampeds so isn't hard to do- you could make a python node to subscribe to TransformStamped and publish as TFMessage. (http://wiki.ros.org/topic_tools/transform also could work but I find starting a new python node easier than figure out the right transform command line)

Also if for some reason you didn't want to use the /tf or /tf_static topics for your TFMessage topic you could make rviz TF view them like this:

rosrun rviz rviz /tf:=/my_tf_topic /tf_static:=/my_tf_static_topic

(Because the TransformListener used by rviz and the TF plugin is hard-coded to just use /tf and /tf_static, so remapping can force it to use a different topic)

If you want to use the regular rviz TF visualization plugin (http://wiki.ros.org/rviz/DisplayTypes/TF) you would need to republish your TransformStamped messages as TFMessage, which contains an array of TransformStampeds so isn't hard to do- you could make a python node to subscribe to TransformStamped and publish as TFMessage. (http://wiki.ros.org/topic_tools/transform also could work but I find starting a new python node easier than figure out the right transform command line)

Also if for some reason you didn't want to use the /tf or /tf_static topics for your TFMessage topic you could make rviz TF view them like this:

rosrun rviz rviz /tf:=/my_tf_topic /tf_static:=/my_tf_static_topic

(Because the TransformListener used by rviz and the TF plugin is hard-coded to just use /tf and /tf_static, so remapping can force it to use a different topic)

If you want to use the regular rviz TF visualization plugin (http://wiki.ros.org/rviz/DisplayTypes/TF) you would need to republish your TransformStamped messages as TFMessage, which contains an array of TransformStampeds so isn't hard to do- you could make a python node to subscribe to TransformStamped and publish as TFMessage. (http://wiki.ros.org/topic_tools/transform also could work but I find starting a new python node easier than figure out the right transform command line)

Also if for some reason you didn't want to use the /tf or /tf_static topics for your TFMessage topic you could make rviz TF view them like this:

rosrun rviz rviz /tf:=/my_tf_topic /tf_static:=/my_tf_static_topic

(Because the TransformListener used by rviz and the TF plugin is hard-coded to just use /tf and /tf_static, so remapping can force it to use a different topic)

There was an effort to be able to view TransformSTampeds TransformStampeds as a default rviz plugin but it didn't get merged https://github.com/ros-visualization/rviz/issues/428