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The basic_controls example in the interactive_marker_tutorials package has a moving marker. There is a tf broadcaster that uses a timer to repeatedly update the transform between base_link and moving_frame. The moving marker uses moving_frame as its frame_id, and if you set the base_link frame as the fixed frame in rviz, you'll see the moving marker move in a sinusoidal pattern (even though its pose in the moving_frame frame is fixed).

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