Connection between 'map' and 'camera_depth_optical_frame' because they are not part of the same tree. On noetic branch

[Dan61mx]

Hi could you please advise on how to fix this error?
Thanks for your a

[ERROR] [1666093214.164953379, 133.383000000]: Could not find a connection between 'map' and 'camera_depth_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.

[Dan61mx]

After updating to new version on this branch I came across this error while executing simulation,

Tranformation estimation using Levenberg Marquardt
[ERROR] [1675034198.465744755]: Failed to load nodelet [/sensors/ekf_se_map] of type [RobotLocalization/EkfNodelet] even after refreshing the cache

this occurs when initializing simulation.

This log message appears to be indicating an error in a system that is trying to load a nodelet, The nodelet in question is called "EkfNodelet" and is of type "RobotLocalization/EkfNodelet". However, the system is unable to load the nodelet and gives an error message indicating that the "class RobotLocalization/EkfNodelet with base class type nodelet::Nodelet does not exist." The log message also lists the types of nodelets that are declared, but "RobotLocalization/EkfNodelet" is not among them