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^ It's in the lower left in the Time panel. If the time panel isn't there it should be possible to restore it through the Panel menu.
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The wiki message is somewhat unclear, especially out of context- /reset_time is only for simulators (maybe gazebo?) that support it, the rviz reset button only resets that instance of rviz http://wiki.ros.org/rviz/UserGuide#Time
The time panel also lets you reset the visualizer's internal time state -- this causes a reset of all the displays, as well as a reset of tf's internal cache of data.
^ It's in the lower left in the Time panel. If the time panel isn't there it should be possible to restore it through the Panel menu.
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