tf problem of stereo_odometer in viso2_ros

I am simulating a four wheel robot with a stereo camera. When I: "rosrun viso2_ros stereo_odometer", a WARN comes: [ WARN] [1527666187.078464034, 18.886000000]: The tf from '/base_link' to 'TOPY_robot/left_camera' does not seem to be available, will assume it as identity! Actually I have already used: static_transform_publisher to publish the tf as following: I also checked it with rostopic echo: luxiaojun@luxiaojun-P50:~/catkin_ws$ rostopic echo /tf transforms: - header: seq: 0 stamp: secs: 1248 nsecs: 724000000 frame_id: "/base_link" child_frame_id: "TOPY_robot/left_camera" transform: translation: x: 0.215 y: 0.06 z: 0.5289 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 rostopic echo /TOPY_robot/zedcamera/left/image_raw/header seq: 195 stamp: secs: 39 nsecs: 238000000 frame_id: "TOPY_robot/left_camera". Can anyone help me ? Thank you.