Problem with mapping (Astra and T265)

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Hi, I am new to using the forum, so sorry, if there is bad formatting on my part.

But, currently, I am working on a dual camera setup that uses a RGBD (Astra camera) and a tracking camera (T265). But, our rtabmap and rviz is only able to keep track of the current frame.

Here's the tf: <node pkg="tf" type="static_transform_publisher" name="odom_camera_tf" args="0 0 0.1 0 0 0 1 /base_link /camera_link 100"> </node>

<node pkg="tf" type="static_transform_publisher" name="odom_camera_tf2" args="0 0 0.1 0 0 0 1 /base_link /camera_rs_link 100"> </node>

<node pkg="tf" type="static_transform_publisher" name="realsense2_camera_manager" args="0 0 0.05 0 0 0 1 /camera_rs_odom_frame /base_link 100"> </node>

<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0 0 0.1 0 0 0 1 /camera_link /camera_depth_frame 100"> </node>

Here's the odom topic used: <arg name="odom_topic" default="/camera_rs/odom/sample"/>