tf conflict in topics
I have a problem in my project about tf conflict. I want to fuse multi sensors to localize my robot more accurate 。So I use some existing ros_packages like 'robot_localization' 、'orbslam2_ros' 、 'ethzasl_icp_mapping' 、'laser_scan_matcher' . When I use camera_sensor in orbslam2_ros , it's tf need to input a topic name /camera_link (publish image) and /pointcloud (publish pointcloud) . But my camera topic already has a tf connected to base_link. So when I run 'orbslam2_ros' , the tf between the camera_link and base_link gone ,but appear another tf between camera_ link and pointcloud. they are different two tf(have no connection at all). I kown tf should not have two parents.could someone tell me how to solve this problem in another way. I will be grateful.
