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I may not be considering this correctly, but it may be as simple as changing your "fixed frame" under ".Global Options" to "/", "/world", or some fixed frame that you do have a transform for.

I may not be considering this correctly, but it may be as simple as changing your "fixed frame" under ".Global Options" to "/", "/world", or some fixed frame that you do have a transform for. "/base_link"

I may not be considering this correctly, but it may be as simple as changing your "fixed frame" under ".Global Options" to "/", "/world", or some fixed frame that you do have a transform for. "/base_link""/base_link"