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I'm not sure what you want to achieve. Where are you getting (0,0)?

As it is set, rviz does not get the transform from odom->base_footprint, but from what you defined to be the fixed frame or for viewing in the GUI from target frame. So, if you are running in a localization configuration you want to set the fixed frame to /map. You might want to have a look at this page: RViz Coordinate Frames.

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