It feels like it is jumping between two TF published on same name. If the bag has already odometry TF in it and you want to try stereo odometry, two options:
* Remove the odom tf from the bag (with a script similar to
this if you are on ros1), and make sure you are not also using the same odometry topic name than in the bag.
* set "
guess_frame_id" parameter in stereo_odometry node and set it to your wheel odometry TF frame. stereo_odometry will then publish the correction between VO and wheel odom in the TF tree to avoid breaking the TF tree (final tf tree would look like this: map->vo->odom->base_link).
Can you link which sequence in rawseeds dataset you are testing with?