digraph G {
"base_link" -> "imu_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 28622.431 sec old)\nBuffer length: 0.000 sec\n"];
"base_link" -> "lidar_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 28622.431 sec old)\nBuffer length: 0.000 sec\n"];
"base_link" -> "odom"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 28622.431 sec old)\nBuffer length: 0.000 sec\n"];
"base_link" -> "map"[label="Broadcaster: /base_to_map\nAverage rate: 5.091 Hz\nMost recent transform: 28622.550 ( -0.119 sec old)\nBuffer length: 4.911 sec\n"];
edge [style=invis];
 subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
"Recorded at time: 28622.431"[ shape=plaintext ] ;
 }->"base_link";
}