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See the first part of Tom Moore's answer to this question.

You are making the tf listener in the callback, which executes SO fast, that the system doesn't have time to register it. Make the tf listener a class variable just like you do with the publishers and subscribers and test it again.

Without looking too much closer, this wouldn't exactly explain why it works with other setups but not when you set the frame to "/odom", except maybe that non-static tfs (like odom) take longer to subscribe to.

See the first part of Tom Moore's answer to this question.

You are making the tf listener in the callback, which executes SO fast, that the system doesn't have time to register it. Make the tf listener a class variable just like you do with the publishers and subscribers and test it again.

Without looking too much closer, this wouldn't exactly explain why it works with other setups but not when you set the frame to "/odom", except maybe that non-static tfs (like odom) take longer to subscribe to. But I think this is a good first step at least to debugging, if this doesn't solve the entire problem.