Convert odometry to transformStamped?

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I'm working on integrating MSCKF-VIO (slam) with voxblox_node from mav_voxblox_planner. There, I need to convert odometry (from slam module) to transformstamped for mapping. Right now, I tried like that but it is not correct. Anyone please help me!

void OdomToTransform::odomCallback(const nav_msgs::OdometryConstPtr& msg) {
      // Converting and storing the transform
        odometry_.header = msg->header;
        odometry_.child_frame_id = msg->child_frame_id;
        odometry_.pose = msg->pose;
        odometry_.twist = msg->twist;
      //tf::transformMsgToKindr(msg->transform, &transform_.transformation);
  }

void OdomToTransform::publishTransformStamped(const ros::TimerEvent& event) {
    // odom -> transformStamped (point)
    geometry_msgs::TransformStamped transform;
    transform.header = odometry_.header;
    transform.child_frame_id = odometry_.child_frame_id;
    transform.transform.translation.x = odometry_.pose.pose.position.x;
    transform.transform.translation.y = odometry_.pose.pose.position.y;
    transform.transform.translation.z = odometry_.pose.pose.position.z;
    transform.transform.rotation = odometry_.pose.pose.orientation;

    transform_pub_.publish(transform); 
}