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To accurately define your Transformation Framework tree, the following nodes and transformations need to be present in order to properly create one:
SLAM Node: Provides access to odometry, stereo images, and configuration files. Odometry data are published using frame_id="odom" and child_frame_id="base_link", while stereo images/config files can be seen using frame_id="camera_link". Rtab-map Node: (RSMLN) Launch File The launch file contains settings for static transformation between "base_link" and "camera_link", along with RVIZ setting the global fixed frame to map.
RVIZ allows users to run nodes and visualize TF trees, whereby you should see various transformations:
"Map" to "Odom" was first made public by SLAM Node; then Odom to Base_Link became publicly released from SLAM Node before Base Link-> Camera Link was transformed static transformation set within Launch File. According to the outputs provided, it appears that transformations are being published correctly. While a warning message indicates there might be some disparity in time between transformation lookup time and latest data availability, it does not appear to cause significant issues.
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