rtabmap TF tree issue with navigation stack

edit

Hello,

I am using a Clearpath Husky robot platform along with an Ouster OS1-16 LiDAR, along with rtabmap and the navigation stack for mapping and navigation. I have been successful in mapping with the OS1, and the navigation stack for the Husky works well without a map. However, when I run both the mapping and navigation, there isn't a typical transform tree set up between the lidar and base (i.e. map > odom > base_link > os1_sensor). Instead, the odom frame has two child frames: base_link and os1_sensor_stabilized. Because of this, the Husky platform is not correctly oriented on the map (which is aligned with the OS1 sensor). I have tried starting a static tf publisher node to publish a transform between the base_link frame and the os1_sensor_stabilized, which results in the the other LIDAR frames not having a transform to the odom frame. It is not clear to me how to set up the transforms in the configuration that I want, with everything leading back to base_link. I think the issue might be a result of rtabmap using the OS1 IMU for odometry, and the Husky also having its own odometry, but I am not sure.

I cannot upload images (per karma requirement), but I will try to provide any additional information for troubleshooting; I am just not sure where to begin. I am using the husky_navigation package (http://wiki.ros.org/husky_navigation) and rtabmap (http://wiki.ros.org/rtabmap_ros) on ROS Melodic on Ubuntu 18.04. Please let me know if there is any additional information I can provide.

I am running melodic on Ubuntu 18.04.

Update 12/08/20: I was able to disable the transform from os1_sensor_stabilized to the odom frame by modifying the launch parameters in the launch file below. My static transform publisher was then able to publish a transform from base_link to the sensor frame without issue. However, the child frames of the sensor frame os1_sensor_stabilized are not able to have a TF to the odom frame (as required for rtabmap). From inspection of the TF tree (linked just below), I notice that this is because the transforms being published for the child frames are running on a different time than the rest of the transforms, so there isn't a current transform to use. How can I go about tracking down why these transforms are running on a different time?

updated TF tree

.
.
Requested info (12/04/20):

rtabmap test_ouster.launch file:

<launch>

<!-- 
Hand-held 3D lidar mapping example using only a Ouster OS-1 (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
 $ roslaunch rtabmap_ros test_ouster.launch os1_hostname:=os1-XXXXXXXXXXXX.local os1_udp_dest:=192.168.1.XXX
 $ rosrun rviz rviz -f map
 $ Show TF and /rtabmap/cloud_map topics
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems 
       coming from the first cloud sent by os1_cloud_node, which may be poorly synchronized with IMU data.
-->

<!-- Required: -->
<arg name ...