Problems with my robot and rtabmap

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Hello everyone, after a month of trying to solve some issues , I haven`t got any lucky. That is why I am turning to this forum to see if someone can help me with it . Here is my problem in context:

I have designed a robot in which I use a jetson nano, Arduino mMega 2560, IMU- MPU6050, Intel Realsense D435, T256, ydlidar X4 and ROS Melodic.

Problem 1

When I try to integrate the ros rtabmap package the figure shows how rviz represents the point cloud.

I have tried to apply a transformation to the cameras to rotate the point cloud and display it correctly:

Position and orientation of the D435 camera within the URDF:

xyz = -0.047515, -0.0065262, 0.64317

rpy = -1.5708, 0, -1.5708

Position and orientation of the T265 camera within the URDF:

xyz = -0.035015, -0.0065262, 0.58873

rpy = 1.5708, 0, 1.5708

node pkg="tf" type="static_transform_publisher" name="camera_link_to_t265_link" args="-0.047515, -0.0065262, 0.64317 -1.5708, 0, -1.5708 /t265_link /odom/sample 100"

node pkg="tf" type="static_transform_publisher" name="camera_link_to_d435_link" args="-0.047515, -0.0065262, 0.64317 -1.5708, 0, -1.5708 /d435_link /color/image_raw 100"

Problem 2

When I try to do 2D navigation, ros returns these errors and warnings and I don't know how to fix it:

[ERROR] [1616447739.443209583]: The goal pose passed to this planner must be in the map frame.  It is instead in the base_link frame.

[ WARN] [1616447739.443272106]: Failed to transform the goal pose from base_link into the map frame: Lookup would require extrapolation into the future.  Requested time 1616447739.441912138 but the latest data is at time 1616447739.359707971, when looking up transform from frame [base_link] to frame [map]

[ERROR] [1616447739.443394782]: The goal pose passed to this planner must be in the map frame.  It is instead in the base_link frame.

[ERROR] [1616447739.443574767]: The goal pose passed to this planner must be in the map frame.  It is instead in the base_link frame.

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Thank you for your help.

jarain78