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My suggestion (July 19) with the static transform publisher helps when you use the /tf transformations online. You seem to save the trajectory however. To have the trajectory affected you would need to do it as follows.

My suggestion (July 19) with the static transform publisher publisher from /newmap to /map helps when you use the /tf transformations online. You But you seem to save the trajectory however. use the saved trajectory. To have the trajectory affected you would need to do it as follows.

New answer since I think I understood your problem now.

My suggestion (July 19) with the static transform publisher from /newmap to /map helps when you use the /tf transformations online. But you seem to use the saved trajectory. To have the trajectory affected you would need to do it as follows.

Use a static transform publisher from yourbase to yoursensorframe set to your known static offset (you call it ground truth). You can choose yourbase as you wish but yoursensorframe needs to be set to the same as the frame_id set in the rgbd image (I'd guess of the color image, but maybe depth).

Then set rgbdslam's parameter base_frame_name to yourbase and fixed_frame_name to map (or whatever else).

Then rgbdslam should compute the transformation relative to make the first position of yourbase (i.e. the inverse offset as seen from the camera) to the position of map.

I hope this works. If not, the relevant code is in the trajectory saving method