The documentation ROS2 transform trees and odometry says that by default the transforms are in reference to a world frame. When I run the NOVA Carter ROS demo with IsaacSim 4.1.0, there is no world frame in the transform graph (just odom → base_link).
How do we add a world/map frame such that we can visualize all these pieces in RVIZ on a fixed global frame? I tried a few different omnigraph iterations and all of them caused errors.
