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I think specifying frame_id of the pose message published by camera_node to say camera_link and providing a static transform camera_link -> base_link should be sufficient (assuming you have set base_link_frame parameter to base_link and both world_frame and odom_frame to odom) if you only want fuse the camera pose data with some other sensor to generate an odometry.

If the robot already publishes an odometry (i.e. the transform odom -> base_link is already available through other means), setting world_frame to map would allow to fuse the pose to generate a global pose with respect to this world_frame