SLAM Gmapping map to odom remapping error

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Hello,

I am trying to perform slam_gmapping for my project, and using filtered odometry obtained using ekf. However, the tf_tree shows that map->odom (this is for slam_gmapping), and second side of the tree has map->/odometry/filtered (this is ekf odometry).

I am attaching my file which classifies tfs, and the tf diagram I got while running the system. I have remapped odom->/odometry/filtered in the slam_gmapping section of the code, but seems like it is not being activated. Currently, no map is being received.

Can anyone tell me how to fix it so I can map the environment using the filtered odometry from ekf for gmapping?

This is the tf when the code runs first time: C:\fakepath\tf.png

This is the tf I get after waiting few minutes and finding the tf: C:\fakepath\frames.png

Code:

<launch> 

  <arg name="frame_id"                default="/base_link" />
  <arg name="rgb_topic"               default="/zed/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/zed/depth/depth_registered" />
  <arg name="camera_info_topic"       default="/zed/rgb/camera_info" />
  <arg name="imu_topic"               default="/imu/data" />
  <arg name="imu_ignore_acc"          default="true" />
  <arg name="imu_remove_gravitational_acceleration" default="false" />
  <arg name="wheelchair"          default="/odom"/>
  <arg name="rtabmap_args"            default=""/>

<!--Wheelchair Launch-->

<node pkg="roboteq_driver" type="driver_node" name="roboteq_driver" output="screen">
    <!-- enable broadcast of odom tf -->
    <param name="pub_odom_tf" value="true" />
    <!-- specify odom frame -->
    <param name="odom_frame" value="odom" />
    <!-- specify base frame -->
    <param name="base_frame" value="wheelchair_base" />
    <!-- specify cmd_vel topic -->
    <param name="cmdvel_topic" value="cmd_vel" />
    <!-- specify port for roboteq controller -->
    <param name="port" value="/dev/ttyACM0" />
    <!-- specify baud for roboteq controller -->
    <param name="baud" value="115200" />
    <!-- specify whether to use open-loop motor speed control (as opposed to closed-loop)-->
    <param name="open-loop" value="false" />
    <!-- specify robot wheel circumference in meters  -->
    <param name="wheel_circumference" value="0.3429" />
    <!-- specify robot track width in meters  -->
    <param name="track_wdith" value="0.5715" />
    <!-- specify pulse-per-revolution for motor encoders  -->
    <param name="encoder_ppr" value="900" />
    <!-- specify counts-per-revolution for motor encoders (ppr*4 for quadrature encoders)  -->
    <param name="encoder_cpr" value="3600" />
</node>

<!--Zed Camera Launch-->

<group ns="zed">
    <node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" />
</group>

<!-- Depth_image to Laser_Scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
        <param name="scan_height" value="100"/>
        <param name="output_frame_id" value="/base_frame"/>
        <param name="range_min" value="0.3"/>
        <param name="range_max" value="60"/>
        <remap from="image" to="/zed/depth/image_rect_color"/>
    <remap from="scan" to ="/scan"/>
 </node>


<!-- Laser Scan Match -->
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="base_frame" value="base_link"/>
    <param name="use_alpha_beta" value="false"/>
    <param name="use_odom" value="false"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="10"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="true"/>
    <param name="use_vel" value="false"/>

 </node>

<!-- IMU: MPU6050 Launch -->
<node pkg="mpu6050_serial_to_imu" type="mpu6050_serial_to_imu_node" name="mpu6050_serial_to_imu_node">
      <param name="frame_id"                       value="imu_link"/>
      <param name="remove_gravitational_acceleration" type="bool" value="true"/>
</node>

<!-- Static Transform (TF) -->

<!--<node pkg="tf" type="static_transform_publisher" name="wheelchair_base" args=" 0.0 0.0 0.0 0 0 0  /map /odometry/filtered 100" /> -->
<node pkg="tf" type="static_transform_publisher" name="wheelchair" args=" -9.0 ...