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First off: tf_prefix has been not-really-supported for a long time. It's much safer to expect it to not work at all.

Now that that's out of the way, it sounds like there's something wrong with your tf trees, or maybe the fixed frame of your ros3djs visualization.

Have you looked at the output of

$ rosrun tf view_frames

to see if there are any unconnected parts?

If everything's properly connected, check that your TFClient has a fixedFrame that is actually part of the tree.