im follow this tutorial http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping so i have a bag file with camera topics and imu topic

[ WARN] [1568067398.089658961, 1478194226.567300104]: odometry: Could not get transform from basefootprint to camerainfra1opticalframe (stamp=1478194226.475405) after 0.100000 seconds ("waitfortransformduration"=0.100000)! Error="canTransform: targetframe basefootprint does not exist. canTransform: sourceframe camerainfra1optical_frame does not exist.. canTransform returned after 0.101033 timeout was 0.1." https://drive.google.com/open?id=1HGVtOSKYVIlSRjvbUERiPBCqiva6wcJS https://drive.google.com/open?id=1YUhyqq8BZew0l1E8n0TDfau5Uhrr03To

run bag file

rosbag play --clock 2016-11-03-20-26-19.bag /camera/infra1/imagerectraw/compressed:=/stereocamera/left/imagerawthrottle/compressed /camera/infra2/imagerectraw/compressed:=/stereocamera/right/imagerawthrottle/compressed /camera/infra1/camerainfo:=/stereocamera/left/camerainfothrottle /camera/infra2/camerainfo:=/stereocamera/right/camerainfothrottle /imu:=/imu_data i dont get any tf data,how to fix ?