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My guess is that the timestamps of the /map -> /openni_camera transformation are set to ros::Time::now(). The transformations /openni_camera -> /openni_rgb_optical_frame from the bag file are old. Try running the static transformations launchfile for the kinect (roslaunch openni_camera kinect_frames.launch or something similar) before sending out the model but after you finished mapping with rgbdslam.

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