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Please see the usage of tf_echo below:

$ rosrun tf tf_echo
Usage: tf_echo source_frame target_frame [echo_rate]

This will echo the transform from the coordinate frame of the source_frame
to the coordinate frame of the target_frame. 
Note: This is the transform to get data from target_frame into the source_frame.
Default echo rate is 1 if echo_rate is not given.

Therefore, you should try the following command to get the results matching your YAML file.

rosrun tf tf_echo link_base camera_color_optical_frame