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I tried changing launch file and introduce real-sense to publish tf data . Please go to xarm_vision/d435i_xarm_setup/launch/d435i_auto_calib.launch, and modify the part

    <!-- start the Realsense435 -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" />

as:

    <!-- start the Realsense435 -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
        <arg name="publish_tf" value="false" />
    </include>

There is no error warning now.

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