We received odometry message, but we cannot get the corresponding TF world->camera_depth_optical_frame at data stamp 0.449000s (odom msg stamp is 0.481000s). Make sure TF of odometry is also published to get more accurate pose estimation. This warning is only printed once. about rtabmap HOT 2 OPEN

   parameters={
          'frame_id':'camera_depth_optical_frame',
        #   'odom_frame_id': 'base_link',
        #   'visual_odometry': False,
          'map_frame_id':'map',
          'approx_sync': True,
          'stereo_approx_sync': True,
          'approx_sync_max_interval': '0.01',
          'subscribe_scan_cloud': True,
          'Grid/Sensor': '2',
        #   'Grid/RayTracing': 'true',
        #   'Grid/3D' : 'true',
          'wait_imu_to_init': True,
          'use_sim_time':use_sim_time,
          'subscribe_depth':True,
        #   'use_action_for_goal':True,
          'map_always_update': True,
        #   'map_cleanup' : True,
          'octomap_tree_depth': 4,
          'cloud_output_voxelized': True,
          'odom_sensor_sync': True,
          'wait_for_transform': 0.5,

        #   'map_empty_ray_tracing': True,
          'tf_delay': 0.05,
          'tf_tolerance': 0.1,
        #   'map_filter_radius' : 5.0,
        #   'map_filter_angle' : 88.0,

        #   'qos_image':qos,
        #   'qos_imu':qos,
        #   'qos_scan':qos,
        #   'qos_odom':qos,
          'queue_size': 30,
          # 'RGBD/LinearUpdate' : '0',
          'Reg/Force3DoF':'true',
          'Optimizer/GravitySigma':'0', # Disable imu constraints (we are already in 2D)
          'Rtabmap/DetectionRate': '10.0'
    }