I have a problem in my project about tf conflict. I want to fuse multi sensors to localize my robot more accurate 。So I use some existing rospackages like 'robotlocalization' 、'orbslam2ros' 、 'ethzaslicpmapping' 、'laserscanmatcher' . When I use camerasensor in orbslam2ros , it's tf need to input a topic name /cameralink (publish image) and /pointcloud (publish pointcloud) . But my camera topic already has a tf connected to baselink. So when I run 'orbslam2ros' , the tf between the cameralink and baselink gone ,but appear another tf between camera_ link and pointcloud. they are different two tf(have no connection at all). I kown tf should not have two parents.could someone tell me how to solve this problem in another way. I will be grateful.