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You can use 'view_frame' to generate a pdf file and see the tf tree. In rviz you can visualise tf axes based on a fixed frame, commonly '/map' frame.

You can use ~~'view_frame'~~ view_frame to generate a pdf file and see the tf tree. In rviz you can visualise tf axes based on a fixed frame, commonly ~~'/map'~~ /map frame.

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