Header Frame ID

Hi, my goal is to control a robot arm by placing interactive markers over the joints. I'd like to express each interactive markers w.r.t. the parent joint, instead of the `base_link` but I got the following error from Rviz:

```
Cannot get tf info for init message with sequence number 1. Error: "J1" passed to lookupTransform argument target_frame does not exist. 
```