Replaying mutli camera rosbag file for rtabmap os

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Hello,

I am trying to replay data via rosbag from 2 realsense D435 cameras for rtabmap algorithm. Running it on the host where cameras are connected is working fine and I am getting data. rosrun tf view_frames produces this graph. Launch file will be posted below.

I want to run rtabmap on another host where I don't have the cameras connected. I recorded the rosbag file with rosbag record -O out.bag /tf /tf_static /camera1/nodelet_manager1/bond /camera2/nodelet_manager2/bond /camera2/aligned_depth_to_color/image_raw /camera1/aligned_depth_to_color/image_raw /camera2/color/image_raw /camera2/color/camera_info /camera1/color/image_raw /camera1/color/camera_info.

When I replay the rosbag file rosbag play out.bag --clock and start the launch file (in offline mode) on another host, I am getting following warning: Warning: TF_OLD_DATA ignoring data from the past for frame camera2_link at time 1.61372e+09 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line Warning: 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp In the replay case, I am getting this graph.

Which step along the way did I miss, or did wrong? Any help appreciated.

Regards, Nedim

Launch file I am using:

<!-- Multi-cameras demo  -->
<launch>

<!-- Choose visualization -->
<arg name="rviz"       default="false" />
<arg name="rtabmapviz" default="false" />
<arg name="offline"          default="false"/>
<!-- Cameras -->
<include unless="$(arg offline)" file="$(find realsense2_camera)/launch/rs_camera.launch">
 <arg name="camera" value="camera1" />
 <arg name="serial_no" value="11111111"/>
 <arg name="align_depth" value="true" />
</include>

<include unless="$(arg offline)" file="$(find realsense2_camera)/launch/rs_camera.launch">
 <arg name="camera" value="camera2" />
 <arg name="serial_no" value="2222222"/>
 <arg name="align_depth" value="true" />
</include>


<!-- Frames: Cameras are placed at 90 degrees, clockwise x, y, z , Rz, Ry, Rx -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
   args=" 0.17 0.0 0.27 0.0 0.0 0.0 /base_link /camera1_link 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
   args="0.0 -0.17 0.27 -1.570796326 0.0 0.0 /base_link /camera2_link 100" />

 <!-- sync rgb/depth images per camera -->
 <group ns="camera1">
  <node pkg="nodelet" type="nodelet" name="nodelet_manager1" args="manager"/>
   <node pkg="nodelet" type="nodelet" name="rgbd_sync1" args="load rtabmap_ros/rgbd_sync nodelet_manager1">
    <remap from="rgb/image"       to="color/image_raw"/>
    <remap from="depth/image"     to="aligned_depth_to_color/image_raw"/>
    <remap from="rgb/camera_info" to="color/camera_info"/>
    <param name="approx"          value="false"/>
  </node>
  </group>
 <group ns="camera2">
 <node pkg="nodelet" type="nodelet" name="nodelet_manager2" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="rgbd_sync2" args="load rtabmap_ros/rgbd_sync nodelet_manager2">
    <remap from="rgb/image"       to="color/image_raw"/>
    <remap from="depth/image"     to="aligned_depth_to_color/image_raw"/>
    <remap from="rgb/camera_info" to="color/camera_info"/>
    <param name="approx"          value="false"/>
  </node>
  </group>

 <group ns="rtabmap">

 <!-- Odometry -->
 <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry ...