tf error on adding odom

[Behzad]

Hi when I want to enable Odom with this launch file I would see these erorrs and earnings :
<launch>
  <group ns="rtabmap">

   
   
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="rgbd_image"      to="rgbd_image"/> 
     
     
       
    </node>

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
         

         
         
         

          <remap from="odom" to="/odom"/>
          <remap from="scan" to="/scan"/>
          <remap from="rgbd_image" to="rgbd_image"/>

         

         
         
         
         
         
         
           
         
           
         
         
         
         
    </node>
  </group>
</launch>

The erorrs :
[ WARN] [1566816329.118024787]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816328.837994)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.200467 timeout was 0.2.".
[ WARN] [1566816329.319938219]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816329.036138)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.200849 timeout was 0.2.".
[ WARN] [1566816329.525693637]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816329.235441)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.201157 timeout was 0.2.".
[ WARN] [1566816329.774160913]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816329.334963)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.200654 timeout was 0.2.".
[ WARN] [1566816329.975166581]: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1566816329.443000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.200826 timeout was 0.2.".
[ERROR] [1566816329.975248276]: TF of received image 0 at time 1566816329.443000s is not set!
[ERROR] [1566816329.975295540]: Could not convert rgb/depth msgs! Aborting rtabmap update...

[matlabbe]

Do you have a node publishing odometry? Is this node also publishing TF /odom -> /base_link?

See also this page on how to use external odometry with rtabmap:
http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot