SPTAM using base_link as reference frame doesn't publish about sptam HOT 5 CLOSED

roscore &
rosparam set use_sim_time true

<launch>

  <!-- Set use_sim_time true for datasets-->
  <param name="use_sim_time" value="true" />

  <!-- static_transform_publisher x y z yaw pitch roll frame_id child_frame_id -->
  <!-- This transform was used set only to test if everything works
       when using something different than the camera as a reference frame.
       If enabled, take care to also fix the transform below. -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="camera_broadcaster" args="1 0 0.5 -1.57 0 -1.57 base_link left_camera" />

  <!-- 'start' frame is the starting pose of the camera
       When 'base_link' is set as the reference frame,
       take care to set this transformation to the same as the previous one -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="start_broadcaster" args="0 0 0 0 0 0 start map" />

  <!-- S-PTAM pose path publisher. Used for visualization. -->
  <node pkg="ros_utils" type="pose_to_path" name="sptam_path">
    <remap from="pose" to="sptam/robot/pose" />
    <remap from="path" to="sptam/robot/path" />
  </node>

  <!-- Nodelet Manager -->
  <node pkg="nodelet" type="nodelet" name="nodelet_manager"  args="manager" output="screen" clear_params="true"/>

  <!-- Choose between Nodelet and Node S-PTAM -->
  <!-- <node pkg="sptam" type="sptam_node" name="sptam" output="screen" > -->
  <node pkg="nodelet" type="nodelet" name="sptam" args="load sptam/sptam_nodelet nodelet_manager" output="screen" clear_params="true" >

    <!-- Read S-PTAM parameters file -->
    <rosparam command="load" file="$(find sptam)/configurationFiles/kitti.yaml" />
    <param name="LoopDetectorVocabulary" value="$(find sptam)/bow_voc/DBoW2/brief_mit_malaga_vocabulary.yml.gz" />

    <param name="use_prediction" value="false" />
    <param name="approximate_sync" value="false" />
    <param name="publish_transform" value="true" />
    <param name="publish_on_fail" value="true" />

    <!--param name="prediction_frame" value="odom" /-->
    <param name="base_frame" value="left_camera" />
    <param name="camera_frame" value="left_camera" />
    <!--param name="map_frame" value="map" /-->
    <param name="reference_frame" value="base_link" />

    <remap from="/stereo/left/image_rect" to="/kitti_stereo/left/image_rect" />
    <remap from="/stereo/right/image_rect" to="/kitti_stereo/right/image_rect" />
    <remap from="/stereo/left/camera_info"  to="/kitti_stereo/left/camera_info" />
    <remap from="/stereo/right/camera_info"  to="/kitti_stereo/ri`ght/camera_info" />

  </node>

</launch>

WARNING: Metapackage "elas" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
... logging to /home/sal/.ros/log/6627cd42-541f-11e8-87ce-8056f2bf2829/roslaunch-sal-5921.log
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started roslaunch server http://sal:34565/

SUMMARY
========

CLEAR PARAMETERS
 * /nodelet_manager/
 * /sptam/

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /sptam/BundleAdjustmentActiveKeyframes: 10
 * /sptam/DescriptorExtractor/Name: BRIEF
 * /sptam/DescriptorExtractor/bytes: 32
 * /sptam/DescriptorMatcher/Name: BruteForce-Hamming
 * /sptam/DescriptorMatcher/crossCheck: False
 * /sptam/EpipolarDistance: 0
 * /sptam/FeatureDetector/Name: GFTT
 * /sptam/FeatureDetector/minDistance: 15.0
 * /sptam/FeatureDetector/nfeatures: 1000
 * /sptam/FeatureDetector/qualityLevel: 0.01
 * /sptam/FeatureDetector/useHarrisDetector: False
 * /sptam/FrustumFarPlaneDist: 10000.0
 * /sptam/FrustumNearPlaneDist: 0.1
 * /sptam/LoopDetectorVocabulary: /home/sal/sptam_w...
 * /sptam/MatchingCellSize: 15
 * /sptam/MatchingDistance: 25
 * /sptam/MatchingNeighborhood: 2
 * /sptam/approximate_sync: False
 * /sptam/base_frame: left_camera
 * /sptam/camera_frame: left_camera
 * /sptam/minimumTrackedPointsRatio: 0.9
 * /sptam/publish_on_fail: True
 * /sptam/publish_transform: True
 * /sptam/reference_frame: base_link
 * /sptam/use_prediction: False
 * /use_sim_time: True

NODES
  /
    camera_broadcaster (tf2_ros/static_transform_publisher)
    nodelet_manager (nodelet/nodelet)
    sptam (nodelet/nodelet)
    sptam_path (ros_utils/pose_to_path)
    start_broadcaster (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

WARNING: Metapackage "elas" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[camera_broadcaster-1]: started with pid [5940]
process[start_broadcaster-2]: started with pid [5941]
process[sptam_path-3]: started with pid [5961]
process[nodelet_manager-4]: started with pid [5973]
process[sptam-5]: started with pid [5985]
[ INFO] [1525935478.722579432]: Loading nodelet /sptam of type sptam/sptam_nodelet to manager nodelet_manager with the following remappings:
[ INFO] [1525935478.722705606]: /stereo/left/camera_info -> /kitti_stereo/left/camera_info
[ INFO] [1525935478.722745247]: /stereo/left/image_rect -> /kitti_stereo/left/image_rect
[ INFO] [1525935478.722769475]: /stereo/right/camera_info -> /kitti_stereo/right/camera_info
[ INFO] [1525935478.722789006]: /stereo/right/image_rect -> /kitti_stereo/right/image_rect
[ INFO] [1525935478.728956715]: waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1525935478.782675911]: Initializing nodelet with 4 worker threads.