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[FATAL] [1567417863.872305532]: Usage: rosrun message_to_tf message_to_tf <topic>

As you can see from the error message printed, message_to_tf doesn't use ROS parameters for the topic, but expects a single argument on the command line.

The <topic> bit in the error message is something you have to provide.

In a .launch file, you can do that with the args attribute of the node element:

<node name="odom_to_tf" pkg="message_to_tf" type="message_to_tf" args="<topic>">
</node>

Be sure to replace <topic> with the actual name of the topic of course.