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Do you mean that it starts out as visible, and then fades away? That happens to me too. I think it happens if a frame doesn't have a parent frame. Do you have any parents for odom? Perhaps you can edit the original question and add the tf tree?
If you want, you can define a static transform using static_transform_publisher that gives a parent to odom. Just make the transform all zeros, and then make the new parent frame your fixed frame in rviz. It will disappear, but odom will remain. There may be a better way; I don't know offhand.
Another possible reason for transforms to start out visible and then lose color and fade away is if your transforms have incorrect / old header.stamp fields.
"You can display the world frame by explicitly adding an "Axes" display type and specifying the world frame"
taken from:
Asked: 2014-07-14 17:12:49 -0600
Seen: 2,039 times
Last updated: Nov 19 '19
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I think, it means that there is no TF from odom frame to others. You can check once by 'rosrun tf view_frames' and see if this is true. Later you can create a valid TF tree and then check in RVIZ.
There is a tf that I have checked using view_frames. Also, the /odom frame shows when some other frame is selected as fixed frame. It's only when I select the /odom frame as fixed frame that it is seen for some time and then disappears.