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I am using the gazebo_ros diff drive plugin and there is the following code which publish a transform between the world and the vehicle.

transform_broadcaster_->sendTransform (
            tf::StampedTransform ( base_footprint_to_odom, current_time,
                               odom_frame, base_footprint_frame ) );

My odometry frame is "world" and the robotBaseFrame is "vehicle" (which correspond to the base link of my robot).