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For any new viewers to this question, tf_prefix has been recently reintroduced in Foxy and Galactic, and should once again work as described in the link posted by @lucascoelho

For any new viewers to this question, the functionality of tf_prefix has been recently reintroduced in Foxy and Galactic, ~~and should once again work as described in~~ under a new name: frame_prefix. More details can be found on the ~~link~~wiki here ~~posted by @lucascoelho~~

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