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I just tested it with you bag file and it works. You just need to change your static publisher to publish to a tf to between map and camera_depth_optical_frame:

rosrun tf static_transform_publisher 0 0 0 0 0 0 map dummy_frame 100

Here is the result:
image description

I just tested it with you bag file and it works. You just need to change your static publisher to publish to a tf to between map and camera_depth_optical_frame:

rosrun tf static_transform_publisher 0 0 0 0 0 0 map dummy_frame camera_depth_optical_frame 100

Here is the result:
image description

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