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That bag contains already a TF tree, no need to publish another static transform for the camera. On a robot, the frame_id should be the base frame of the robot. In this case, the base frame is base_footprint. Remove your static transform publisher for camera_link to stereo_link and set the following for stereo_odometry node:

<param name="frame_id" type="string" value="base_footprint"/>

Here is the tf tree in the bag:

$ roscore
$ rosparam set use_sim_time true
$ rosbag play --clock stereo_outdoorA.bag
$ rosrun tf_view_frames
$ evince frames.pdf

(Note that in this example, wheel odometry of azimut was detached of the TF tree because we are using visual odometry instead)

If you don't have a robot urdf, you could look at this example.