[CartesianMarker] base_link of CartesianMarker should be fixed in RVIZ

This is not really a bug but we figured out that if the ```base_link``` of the task is not the ```fixed_frame``` in RVIZ, the Marker explodes. What we can do from our side is to retrieve somehow the ```fixed_frame``` from RVIZ and if it is not the one of the marker, disable it.

Other suggestions are welcome.  