setting up tf tree for wheel and visual odometry

[raffaele]

Hi,

i am trying to use rtabmap for visual odometry with a turtlebot3 in ros2. the goal is to fuse visual odometry with wheel odometry and imu. i am trying to seeting up the tf tree but i don't know if i am doing well. the following is the tree that i obtain. in rviz the tf tree status seems okay but i wanna be sure that i 'm doing weel.
frames_2025-02-04_00.pdf

[matlabbe]

How do you fuse visual odometry with wheel odometry?

The map frame is published for wheel odometry and for visual odometry, there should be only one.