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I think the problem is this. In your launch file you write:

<param name="odom_frame" value="base_link" />

But in your node you write the following:

ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);

So, i think? yiu may change code line into next view in your launch file:

 <param name="odom_frame" value="odom" />

I think the problem is this. In your launch file you write:

<param name="odom_frame" value="base_link" />

But in your node you write the following:

ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);

So, i think? yiu think, you may change code line into next view in your launch file:

 <param name="odom_frame" value="odom" />