Robot Localization ekf_node: frame ID "camera_imu_optical_frame" does not exist

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Hello,

I am new to ROS, and I was trying to use ROS2 to implement SLAM with RealSense Camera L515. I tried to search for others with similar issues, but haven't had any success.

Operating System & Version: Linux (Ubuntu 20.04) on Jetpack 5.01

ROS2 Distro: Foxy

Kernel Version: 5.10.65-tegra

Platform: NVIDIA Jetson Xavier NX

I'm working to set up odometry for my robot that utilizes the L515 and its internal imu. I don't have my wheel odometry set up yet, but I wanted to see if I could run the ekf_node from the robot localization package with just the imu first, but I encountered a barrage of warnings when I launched the node in conjunction with the realsense camera node. This message was repeatedly printed in the terminal:

[ekf_node-1] Warning: Invalid frame ID "camera_imu_optical_frame" passed to canTransform argument source_frame - frame does not exist [ekf_node-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp

My ekf.yaml config file is as follows:

### ekf config file
ekf_filter_node:
    ros__parameters:
        frequency: 30.0
        sensor_timeout: 0.1
        two_d_mode: false
        transform_time_offset: 0.0
        transform_timeout: 0.0
        print_diagnostics: true
        debug: false
        debug_out_file: /path/to/debug/file.txt
        publish_tf: true
        publish_acceleration: false
        map_frame: map              # Defaults to "map" if unspecified
        odom_frame: odom            # Defaults to "odom" if unspecified
        base_link_frame: camera_link  # Defaults to "base_link" if unspecified
        world_frame: odom           # Defaults to the value of odom_frame if unspecified

        odom0: example/odom
        odom0_config: [true,  true,  false,
                    false, false, false,
                    false, false, false,
                    false, false, true,
                    false, false, false]
        odom0_queue_size: 2
        odom0_nodelay: false
        odom0_differential: false
        odom0_relative: false
        odom0_pose_rejection_threshold: 5.0
        odom0_twist_rejection_threshold: 1.0

        odom1: example/odom2
        odom1_config: [false, false, true,
                    false, false, false,
                    false, false, false,
                    false, false, true,
                    false, false, false]
        odom1_differential: false
        odom1_relative: true
        odom1_queue_size: 2
        odom1_pose_rejection_threshold: 2.0
        odom1_twist_rejection_threshold: 0.2
        odom1_nodelay: false
        pose0: example/pose
        pose0_config: [true,  true,  false,
                    false, false, false,
                    false, false, false,
                    false, false, false,
                    false, false, false]
        pose0_differential: true
        pose0_relative: false
        pose0_queue_size: 5
        pose0_rejection_threshold: 2.0  # Note the difference in parameter name
        pose0_nodelay: false

        twist0: example/twist
        twist0_config: [false, false, false,
                        false, false, false,
                        true,  true,  true,
                        false, false, false,
                        false, false, false]
        twist0_queue_size: 3
        twist0_rejection_threshold: 2.0
        twist0_nodelay: false

        imu0: camera/imu
        imu0_config: [false, false, false,
                    false,  false,  false,
                    false, false, false,
                    false,  false,  true,
                    true,  false,  false]
        imu0_nodelay: false
        imu0_differential: false
        imu0_relative: true
        imu0_queue_size: 5
        imu0_pose_rejection_threshold: 0.8              # Note the difference in parameter names
        imu0_twist_rejection_threshold: 0.8             #
        imu0_linear_acceleration_rejection_threshold: 0.8  #

        imu0_remove_gravitational_acceleration: true
        use_control: true
        stamped_control: false
        control_timeout: 0.2
        control_config: [true, false, false, false, false, true]
        acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
        deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
        acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
        deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]

        process_noise_covariance: [0.05, 0.0,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0 ...