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I believe roswtf has a tf plugin which checks -- among other things -- reparenting of frames.

Which would seem to be what you are asking.

I believe roswtf has a tf plugin which checks -- among other things -- reparenting of frames.

Link to the ROS wiki: wiki/tf: roswtf plugin:

roswtf tf comes with a plugin for roswtf that automatically runs whenever you run roswtf. This plugin will analyze your current tf configuration and attempt to find common problems. To run, just invoke roswtf normally:
$ roswtf

Which would seem to be what you are asking.

The wiki page doesn't explain what actually is checked, but from the code:

time deltas ("Received out-of-date/future transforms")
reparenting of frames
cycle detection
multiple authority (this would help with multiple broadcasters sending out the same frames)
"no msgs" (ie: are there any TF messages being published)
unnormalised quaternions

Link to the various error / warning messages: here.