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Your code shows this:

void odomCallback(const nav_msgs::Odometry::ConstPtr& msg)
{
    [..]

    tf::TransformBroadcaster broadcaster;

    [..]

    broadcaster.sendTransform(..);

    [..]
}

you're (re)creating the tf::TransformBroadcaster in every odomCallback(..).

As broadcasters essentially wrap regular ros::Publishers, the same requirements and constraints apply: never create Publishers inside the body of callbacks.

Setting up a publication takes time. Setting up subcriptions takes time. There is almost no time between creating the TransformBroadcaster and sending transforms with it in your code.

Create the TransformBroadcaster in a scope that has a longer lifetime than your callback -- such as your main(..), or use a class to wrap all of this -- and I expect things to start working properly.

Your code shows this:

void odomCallback(const nav_msgs::Odometry::ConstPtr& msg)
{
    [..]

    tf::TransformBroadcaster broadcaster;

    [..]

    broadcaster.sendTransform(..);

    [..]
}

you're (re)creating the tf::TransformBroadcaster in every odomCallback(..).

As broadcasters essentially wrap regular ros::Publishers, the same requirements and constraints apply: never create Publishers inside the body of callbacks.

Setting up a publication takes time. Setting up subcriptions takes time. There is almost no time between creating the TransformBroadcaster and sending transforms with it in your ~~code.~~code. And even if the subscription is setup, the Publisher disappears almost immediately after the frames have been broadcast, which increases the chance that the data never actually reaches the subscriber(s).