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I ues thie method,maybe be not correct.

FrameTransform frameTransform = view.getFrameTransformTree().transform(GraphName.of("odom"), GraphName.of("map"));

See it link text

I ues ~~thie~~ the method,maybe be not correct.

FrameTransform frameTransform = view.getFrameTransformTree().transform(GraphName.of("odom"), GraphName.of("map"));

See it link text

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