Rosbag playback with Rtabmap

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Hi

I've tried everything but I can't get rtabmap working with a rosbag playback, done some searching for a solution, and it should be to set the use_sim_time parameter, which I did but for no avail. Please help! (I'm running Melodic on Jetson Xavier Agx)

I'm using the Rosbag A from here: http://wiki.ros.org/rtabmap_ros/Tutor... (running it with the clock enabled: rosbag play --clock stereo_outdoorA.bag) with this launch file:

<launch>

    <arg name="rtabmapviz" default="true" />
    <param name="use_sim_time" type="bool" value="true"/>

    <node name="republish_left" type="republish" pkg="image_transport" args="compressed 
    in:=/stereo_camera/left/image_raw_throttle raw 
    out:=/stereo/left/image_raw" />
    <node name="republish_right" type="republish" pkg="image_transport" args="compressed 
    in:=/stereo_camera/right/image_raw_throttle raw 
    out:=/stereo/right/image_raw" />

    <remap from="/stereo/left/camera_info"  to="/stereo_camera/left/camera_info_throttle"/>
    <remap from="/stereo/right/camera_info"  to="/stereo_camera/right/camera_info_throttle"/>

    <group ns="stereo">

    <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"  >

       <remap from="/stereo/left/image" to="/stereo/left/image_raw"/>
       <remap from="/stereo/right/image" to="/stereo/right/image_raw"/>
       <param name="prefilter_size"            value="5"/>
           <param name="prefilter_cap"             value="38"/>
           <param name="correlation_window_size"   value="25"/>
           <param name="min_disparity"             value="0"/>
           <param name="disparity_range"           value="64"/>
           <param name="uniqueness_ratio"          value="1.0"/>
           <param name="texture_threshold"         value="2287"/>
           <param name="speckle_size"              value="875"/>
           <param name="speckle_range"             value="25"/>
       <param name="use_sim_time" type="bool" value="true"/>

    </node>

    </group>

<!--
   <node name="stereo_cam" pkg="image_view" type="stereo_view" output="screen" >    
    <remap from="/stereo/left/image" to="/stereo/left/image_raw"/>
    <remap from="/stereo/right/image" to="/stereo/right/image_raw"/>
   </node>
-->  

<!-- rotate camera so z axis is up and x forward. -->
   <arg name="pi/2" value="1.5707963267948966" />
   <node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)         camera_link stereo_camera 100" >    
   </node>

   <group ns="rtabmap">   

        <!-- Stereo Odometry -->   
    <node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
           <remap from="left/image_rect"       to="/stereo/left/image_rect"/>
           <remap from="right/image_rect"      to="/stereo/right/image_rect"/>
       <remap from="left/camera_info"  to="/stereo_camera/left/camera_info_throttle"/>
           <remap from="right/camera_info"  to="/stereo_camera/right/camera_info_throttle"/>


           <param name="use_sim_time" type="bool" value="true"/>
           <param name="frame_id"                      type="string"   value="camera_link"/>
           <param name="odom_frame_id"                 type="string"   value="odom"/>
      <!-- <param name="approx_sync"                   type="bool"     value="true"/> 
           <param name="queue_size"                    type="int"      value="5"/> -->
       </node>

   </group>
</launch>

Keep getting the following error:

[ WARN] [1590337936.234554157, 1415737845.599683697]: odometry: Could not get transform from camera_link to stereo_camera (stamp=1415737845.429450) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="Lookup would require extrapolation into the future.  Requested time 1415737845.429450035 but the latest data is at time 1415737830.056226969, when looking up transform from frame [stereo_camera] to frame [camera_link]. canTransform returned after 0.100854 timeout was 0.1."