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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.

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.

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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.