My Navsat_transform node is publishing the /odometry/gps within the "odom" frame. Is that right? I thought it is supposed to publish it within the " map" frame I am using a pose message from an slam algorithm based on lidar only, combined with an 9axis imu with magnetometer as input for the navsat transform node.

ekffilternode: ros_parameters: frequency: 30.0 sensortimeout: 10.0 twodmode: false transformtimeoffset: 0.0 transformtimeout: 0.0 printdiagnostics: true debug: false

map_frame: map
odom_frame: odom
base_link_frame: base_link_2
world_frame: odom

#odom0: /lidarslam_odometry
#odom0_config: [true,  true,  true,
#               true,  true,  true,
#               false, false, false,
#               false, false, false,
#               false, false, false]
#odom0_queue_size: 10
#odom0_differential: false
#odom0_relative: true

pose0: /lidarslam_pose_cov
pose0_config: [true, true, true,
              true,  true, true,
              false, false, false,
              false, false, false,
              false, false, false]
pose0_queue_size: 10
pose0_differential: false
pose0_relative: true  

imu0: imu/data_with_cov
imu0_config: [false, false, false,
              false, false, false,
              false, false, false,
              true,  true,  true,
              true,  true,  true]

imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 5
#imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
#imu0_twist_rejection_threshold: 0.8                #
#imu0_linear_acceleration_rejection_threshold: 0.8  #

imu0_remove_gravitational_acceleration: true

use_control: false

navsatnode: rosparameters: frequency: 30.0 delay: 3.0 magneticdeclinationradians: 0.058 #0.04256444
yawoffset: -0.45 zeroaltitude: false broadcastcartesiantransform: false #broadcastutmtransformasparentframe: false publishfilteredgps: false useodometryyaw: false waitfordatum: false

Furthermore, when using a second ekf_node in order to fuse the gps with the odometry/filtered topic, there is node map-> odom transform.