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Hi Athria,

if there's no depth, there won't be odometry, thus no tf. The driver expects depth registered images to work. In the launchfile for hydro and fovis, openni is missing. Provided that openni publishes to this topic below, it should work

$(arg camera)/depth_registered/sw_registered/image_rect_raw

check that you are running openni, and that you rectify the images. Check that the topic I just wrote has something. Then run the launchfile.