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Seems that my problem was very "stupid" and I did not realize that the data from the T265 is in quaternion... Therefore I made a node to make the correct translation of the TF. If someone is interested please have a look at: ROS sensor_odom_manager I am using the T265 in a differential drive robot, therefore this node might not work in other situations.. feel free to modific/fork it...

Seems that my problem was very "stupid" and I did not realize that the data from the T265 is in quaternion... Therefore I made a node to make the correct translation of the TF. If someone is interested please have a look at: ROS sensor_odom_manager I am using the T265 in a differential drive robot, therefore this node might not work in other situations.. feel free to modific/fork modify/fork it...