Wierd TF tree when running RGB-D Slam

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Hey, I have rgbdslam package installed which was released during end of February 2013.

I am running the Rgbdslam node using the following parameters for the frames.

<param name="config/fixed_frame_name"      value="/map"/>
<param name="config/base_frame_name"       value="/base_footprint"/>

Then i send the model from the GUI of the RGBDslam to the octomap server using the CTRL+M command. The Octomap server has the following params for the frames.

<param name="frame_id" type="string" value="/map" />
<param name="base_frame_id" value="/camera_rgb_optical_frame" />

Meanwhile in another terminal i use the command "rosrun tf view_frames".

The frame tree that is seen is displayed below.

As seen in the above screen shot there is a loop present in the tf tree which should not be there.

What could be a possible solution to the above problem.? Any help would be much appreciated.

--EDIT-- @tfoote I was able to write a tf broadcaster which would imitate the faulty tf tree. Here is a screenshot of the imitated faulty tree.

The three code snippets that were used were

      broadcaster.sendTransform(
        tf::StampedTransform(
          tf::Transform(odom_quat, tf::Vector3(0.0, 0.0, 0.0)),
          ros::Time::now(),"base_footprint", "map"));
      r.sleep();

      broadcaster.sendTransform(
        tf::StampedTransform(
          tf::Transform(odom_quat, tf::Vector3(0.0, 0.0, 0.0)),
          ros::Time::now(),"map", "base_footprint"));
      r.sleep();

      broadcaster.sendTransform(
        tf::StampedTransform(
          tf::Transform(odom_quat, tf::Vector3(0.0, 1.0, 2.0)),
          ros::Time::now(),"map", "where_mocap_should_be"));
      r.sleep();