# Revision history [back]

It would help us if you could also identify the goal of seeing this information. If you're trying to see this information in a terminal, you can use:

rosrun tf view_frames /map /odom


or

rosrun tf view_frames /map /base_link


If you're trying to do this in code, you can perform this lookup in code as well.

  // Look up transform between base link and the map frame.
tf::StampedTransform xform;
try
{
// The waypoint frame is the source frame