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Hi,
your static map transform should be /map->/odom, not /odom->/robot_base. If you don't have a node publishing /map->/odom (amcl or other localization/mapping node), you may just ignore /map->/odom and don't set map_frame parameter in robot_localization, from the doc:
Note If your system does not have a map_frame, just remove it, and make sure world_frame is set to the value of odom_frame.
See also note 2 about using robot_localization for odometry fusion:
If you are only fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set world_frame to your odom_frame value. This is the default behavior for the state estimation nodes in robot_localization, and the most common use for it.
cheers
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