How can I set a Fixed Frame in Rviz without static_transform_publisher

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Hi all,

I am trying to planning with a quadrotor. I have created a virtual floating joint between world frame and base_link.

I am running the demo.launch created by Moveit Setup Assistant and I checked that the static_transform_publisher in demo.launch keep base_link static and I can't change the current position of the quadrobot.

How can I set a Fixed Frame and don't inmobilice the quadrobot?