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I had the "missing callerid" warning issued in c++ when I instantiated tfMessages from a bagfile and published it (not via the tf broadcaster but a regular publisher). Since the warnings were quite annoying I tried to fix it, but couldn't find much information except this.

For roscpp I fixed this not really quick but hopefully not too dirty by manually setting msg->__connection_header["caller_id"] = "name_of_my_node", but I am not sure whether this is a good way to go.