robot_localization tf tree changes from odom -> base to map -> base when using a custom particle filter

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Hello,

I have robot_localization setup to fuse IMU data from a flight controller with pose data from ORB-SLAM. I am also using gmapping to generate a 2D map. When I run my robot_localization node, my tf tree becomes odom -> base_link -> camera_link, which I think is what I'm supposed to get because right now I'm assuming that my camera is my base. However, I'm also trying to incorporate a particle filter into this setup. And when I try to run my particle filter, my tf tree changes to map -> base_link and I'm not sure why. I've been trying to find answers but I feel like a lot is going over my head.

In any case, here are the steps I did when I was using robot_localization and also use the particle filter:

1. Go to a known fixed position (initial point).
2. Run camera, ORB, robot_localization node, and gmapping. (At this point, my tf tree is odom -> base_link)
3. Start mapping around and return to initial point when done.
4. Save the map using map_server.
5. Close gmapping.
6. Launch the particle filter and range finders. (This is where my tf tree changes to map -> base_link while my odom frame seems to just float and is unconnected to anything).

Also here is the config file I use for my robot_localization node:

frequency: 50
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
publish_tf: true
publish_acceleration: false

map_frame: map              # Defaults to "map" if unspecified
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link  # Defaults to "base_link" if unspecified
world_frame: odom           # Defaults to the value of odom_frame if unspecified

pose0: /orb/pose

pose0_config: [true,  true,  true,      # Position
               true,  true,  true,    # Orientation
               false,  false, false,     # Linear Velocity
               false,  false, false,      # Angular Velocity
               false,  false, false]     # Linear Acceleration   

pose0_queue_size: 2

pose0_nodelay: false

pose0_differential: false

pose0_relative: false

imu0: /mavros/imu/data

imu0_config: [true, true, true,    # Position
              true, true, true,     # Orientation
              false, false, false,    # Linear Velocity
              true, true, true,     # Angular Velocity
              true, true, true]     # Linear Acceleration              

imu0_nodelay: false
imu0_differential: true
imu0_relative: false
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8                #
imu0_linear_acceleration_rejection_threshold: 0.8  #

imu0_remove_gravitational_acceleration: false

use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 1.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 1.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.5, 0.0, 0.0, 0.0, 1.5]
deceleration_gains: [1.0, 0.7, 0.0, 0.0, 0.0, 1.0]

process_noise_covariance: [0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0.03, 0,    0,     0,     0 ...