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First, you need to add a calibrated tf between your base_link and your realsense_frame. You can manually measure this and verify it.

You may also want to look at the robot_localization package to fuse your rtabmap odometry with the IMU and wheel odometry.

First, you need to add a calibrated tf between your base_link and your realsense_frame. You can manually measure this and verify it.it. The robot needs to know where the camera is relative to its other parts.

You may also want to look at the robot_localization package to fuse your rtabmap odometry with the IMU and wheel odometry.