Show in RViZ coordinate of a point with respect to parent

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Hi to all,

in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file.

e.g.:

<link name="base_link">
  <visual name="chassis">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(arg mesh_file)" scale="1 1 1"/>
    </geometry>
  </visual>
</link>

<link name="radar_front_right" />
<link name="radar_front_left" />

<joint name="radar_front_right" type="fixed">
  <origin xyz="5 2 0" rpy="0.5 0 0"/>
  <parent link="base_link"/>
  <child link="radar_front_right"/>
</joint>

<joint name="radar_front_left" type="fixed">
  <origin xyz="5 -2 0" rpy="0.7 0 0"/>
  <parent link="base_link"/>
  <child link="radar_front_left"/>
</joint>

I can see the radar "raw" values (before the transformation and the offset of base_link) using select plug-in. What I do not know how to do is to visualized the values after the transformation and the offset of base_link (the one i see in the RViZ visualization.

Is it possible?