vicon_bridge no tf world frame

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Hi,

When the vicon_bridge is launched, there is no there is no tf world frame.

To be specific, the vicon_bridge was launched using:

roslaunch vicon_bridge vicon.launch

The console output was:

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /vicon/datastream_hostport: 192.168.209.130:801
 * /vicon/stream_mode: ClientPull
 * /vicon/tf_ref_frame_id: /world

NODES
  /
    vicon (vicon_bridge/vicon_bridge)

ROS_MASTER_URI=http://192.168.209.130:11311

core service [/rosout] found
process[vicon-1]: started with pid [11373]
[ INFO] [1454931012.980572480]: Connecting to Vicon DataStream SDK at 192.168.209.130:801 ...
[ INFO] [1454931012.981211710]: .
[ INFO] [1454931013.981819630]: .
[ INFO] [1454931014.982724248]: .
...

The tf tools were launched using:

rosrun tf view_frames
evince frames.pdf

The vicon_gridge and the tf tools were launched on two different console windows, having the following setup:

ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/home/user/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://192.168.209.130:11311
ROSLISP_PACKAGE_DIRECTORIES=/home/user/catkin_ws/devel/share/common-lisp
ROS_DISTRO=indigo
ROS_IP=192.168.209.130
ROS_ETC_DIR=/opt/ros/indigo/etc/ros

Any pointers why there is no world frame shown in frames.pdf file?