Ground truth to show robot movement in Rviz

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Hello all,

I'm trying to figure out what is need and the information path so that information the robot shown in Rviz moves relative to a fixed frame. (as opposed to the robot standing still and the world moving around it).

The practical case is that I am using px4's sitl tools to simulate an UAV. It opens fine if I use the UAV's base_link as a fixed frame. When the UAV moves, it only moves in Gazebo, in Rviz is the world around it that moves. It looks like I am missing the transformation between world and base_link. But I don't understand who to do it. I read about fixed frames in the tutorials and I saw a lot of code using the librotors_gazebo_odometry_plugin I also saw that the /uav1/mavros/local_position/odom topic is publishing the NaviationMessage Odometry with the values I want. But since there is no world frame anywhere (I'm assuming it is a special frame loaded with world) I don't understand what stuff to route to where.

I am launching joint_state_publisher, robot_state_publisher and rviz all from the same robot_description.

Urdf file Here is my tf tree (had to cut it in half and remove arms and most rotors otherwise was too big)