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I updated this example with a new section to include IMU, gps and ground truth.

In your example, if you want to use /world as odometry, set also visual_odometry:=false. This may be your problem with TF and rviz. If you want to use rtabmap's stereo odometry, follow the new example, there is a script to fix world->base_link TF so that there is no TF conflict with odometry publishing also odom -> base_link.