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I am playing a bag file which has the following tf tree structure odom --> base_link --> (lidar, gps, imu)

I want to publish a frame 'base_footprint' which is a child of 'base_link' with a constant transformation: 0 0 -0.3 0 0 0

I have the following in my launch file <node pkg="tf" type="static_transform_publisher" name="add_base_footprint" args="0 0 -0.3 0 0 0 1 base_link base_footprint 30"/>

I can see the frame published using $rosrun tf view_frames. Also by running $rostopic echo /tf

But when I run RViz, base_footprint doesn't show up in the tree. It does show up in the list of frames, but the parent frame field is blank, and position is 0 0 0.

Any help is appreciated. Thanks.