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According to the source code gazebo_ros_api_plugin_.cpp under line 01553, it seems to always print out that error message as long as you set a reference frame other than empty, map, or world.

According to the source code ~~gazebo_ros_api_plugin_.cpp~~ gazebo_ros_api_plugin.cpp under line 01553, it seems to always print out that error message as long as you set a reference frame other than empty, map, or world.

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