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Thank you very much for the answer.

As you suggest, replacing base_link by camera_pose_frame makes it work.

Additionally, I have realized that actually the disconnection problem is that in the definition of the tf tree, it is important the definition parent->child, that is, the direction of the arrows (which I didn't know before). The tf tree cannot be defined with a frame with two inbound arrows. Changing the 2nd last tf in the launch file to this:

   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_broadcaster" args="0 -0.05 0.10 -3.1415/2 0 0 camera_pose_frame base_link 100"/>

Now the base_link is the child of camera_pose_frame (not the other way around), and the tf between camera_odom_frame and camera_pose_frame does not break:

Everything is well connected.

Regards