RTAB map issue

[HarithaKameswari13]

Got this error when I launched the rtab launch file.

This is my launch file code.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, UnlessCondition
from launch_ros.actions import Node

def generate_launch_description():

    use_sim_time = LaunchConfiguration('use_sim_time')
    qos = LaunchConfiguration('qos')
    localization = LaunchConfiguration('localization')

    parameters={
          'frame_id':'base_footprint',
          'use_sim_time':use_sim_time,
          'subscribe_depth':True,
          'use_action_for_goal':True,
          'qos_image':qos,
          'qos_imu':qos,
          'Reg/Force3DoF':'true',
          'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
    }

    remappings=[
          ('rgb/image', '/camera/image_raw'),
          ('rgb/camera_info', '/camera/camera_info'),
          ('depth/image', '/camera/depth/image_raw')]

    return LaunchDescription([

        # Launch arguments
        DeclareLaunchArgument(
            'use_sim_time', default_value='true',
            description='Use simulation (Gazebo) clock if true'),

        DeclareLaunchArgument(
            'qos', default_value='2',
            description='QoS used for input sensor topics'),

        DeclareLaunchArgument(
            'localization', default_value='false',
            description='Launch in localization mode.'),

        # Nodes to launch

        # SLAM mode:
        Node(
            condition=UnlessCondition(localization),
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=[parameters],
            remappings=remappings,
            arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)

        # Localization mode:
        Node(
            condition=IfCondition(localization),
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=[parameters,
              {'Mem/IncrementalMemory':'False',
               'Mem/InitWMWithAllNodes':'True'}],
            remappings=remappings),

        Node(
            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
            parameters=[parameters],
            remappings=remappings),
    ])

[matlabbe]

Verify that these Tf frames exist: base_footprint and camera_rgb_optical_frame and that they are in same TF tree:

ros2 run tf2_tools view_frame.py