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Any string value is actually valid.

The comments on the field in the msg defs are wrong / confusing: I believe that 0 and 1 were valid values way-back-when, but very quickly it was realised that they actually don't make much sense (what does "the global frame" actually mean? etc).

These days valid values are strings, and those strings are supposed to be TF frame names (but that is not enforced anywhere (I'm also not sure how that would have to be done)).