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I guess you have it the wrong way around.

Odometry provides the transform /odom -> /base_link. As I understand your post, you produce /odom -> /odom_error, which gives two different tree branches.

You might want to do /odom_error -> /odom and then set /odom_error as the odom frame in the localization. I don't know if the algorithms require the actual Odometry message, though.

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