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You need to run robot_pose_ekf to get the /odom frame in your tf tree. From what I can tell, in diamondback it was run whenever the robot was "brought up" ... but in electric, this seems to have been changed.

Example launch file:

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  <param name="freq" value="10.0"/>
  <param name="sensor_timeout" value="1.0"/>
  <param name="publish_tf" value="true"/>
  <param name="odom_used" value="true"/>
  <param name="imu_used" value="true"/>
  <param name="vo_used" value="false"/>
  <param name="output_frame" value="odom"/>
  <remap from="imu_data" to="imu/data"/>
</node>