How to add parent frame map? Map not exists.

edit

Map frame never exist before. I broadcast map -> odom when init node. When i use frameExists, map frame not exists. But in rqt_tf_tree it exists and connected to odom. Where can be problem?

    self.tf_broadcaster = tf.TransformBroadcaster()
    self.tf_listener = tf.TransformListener()

    self.tf_broadcaster.sendTransform((5.0, 3.0, 0.0),
        tf.transformations.quaternion_from_euler(0.0, 0.0, 0.0),
        rospy.Time.now(),
        "odom",
        "map")

    #This condition never True. 
    if self.tf_listener.frameExists("odom") and self.tf_listener.frameExists("map"):
        rospy.loginfo("transform exist!")
        t = self.tf_listener.getLatestCommonTime("odom", "map")
        position, quaternion = self.tf_listener.lookupTransform("odom", "map", t)
        print position, quaternion
        print("!!!!!!!!!")

Edit 1:

Main goal of my node to improve robot localization odometry based on imu and encoders. I calculated new position of robot in map frame. And want somehow to transform odometry frame respect to map frame.

My actual global localization node, where i want to use tf.

Bag file in which I test my node.

Output of rqt_tf_tree.