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Rviz use last tf (transform) message for creating visualization

I have a map frame, a camera frame and a robot frame. The transform between map frame and the camera frame is fixed and gets published occasionally, ~10 seconds irregular intervals. The transform between the camera and the robot gets published at ~30Hz. The Rviz visualization of the robot's pose is with reference to the map frame and it gets updated only after it receives a new /tf message for transform between map and camera. I want Rviz to use whatever previous transform is available from the tf tree to create the visualization. Thank you in advance :)