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This issue ha been resolved using tf.TransformListener() and publishing the transformed data into base frame. Example code:

        (trans,rot) = listener.lookupTransform('/link_base', '/marker_1', rospy.Time(0))
        val = np.array([trans[0],trans[1],trans[2],rot[0],rot[1],rot[2],rot[3]],dtype=np.float64)
        marker_wrt_base.publish(val)

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