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The estimates of the different transformation from /map to /camera_link belong to different systems (RGBDSLAM and something else). Therefore I suggest using a different name for RGBDSLAM's /map frame. You can change the name by setting the parameter "config/fixed_frame_name" in RGBDSLAM's launch file.

There are ways to combine the two estimates, but to make it sound, you would need the uncertainty (covariance) for the respective transformations, which are not provided (at least RGBDSLAM doesn't do that). Otherwise you could just interpolate them with manually tuned weights.