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I got to know that adding a static transform publisher solves the problem.

<launch>
static_transform_publisher_node = Node(
    package='tf2_ros',
    executable='static_transform_publisher',
    name='link1_broadcaster',
    arguments=['0', '0', '0', '0', '0', '0', '1', 'map', 'odom'],
    output='screen',
</launch>

 ld.add_action(static_transform_publisher_node)  # Add the static transform publisher node