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A static transform publisher can create a new frame relative to an another one:

rosrun tf static_transform_publisher 0 1 0 0 0 0 base_footprint base_offset 0.1

http://wiki.ros.org/tf#static_transform_publisher

With that running you could then do a tf_echo with base_offset in the map frame (given a tf between map and base_footprint exists), or have a rviz Marker or Axes use the base_offset frame to visualize it.