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It is very likely that you don't have a valid TF tree, i.e. the imu_link is not connected to the odom frame.

To double-check run:

rosrun tf tf_echo odom erlecopter/imu_link

It is very likely that you don't have a valid TF tree, i.e. the imu_link is not connected to the odom frame.

To double-check run:

rosrun tf tf_echo odom erlecopter/imu_link

EDIT

What you are missing is the part that publishes a TF between the odom and the camera frame.

If, as you say:

The camera sends a PoseWithCovarianceStamped message that tells the displacement between the previous frame and the current one

Then, what you have to do is to integrate over time the displacements to obtain the global transformation between the camera and a fixed reference frame.