Problems when using rosbag with ethzasl_icp_mapper.

Dear all, I have some problems when using `ethzasl_icp_mapper` with playing rosbag file. I followed this [tutorial](http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback) to record some raw rgb and depth data without `tf` information. Then I use `roslaunch openni_launch openni.launch load_driver:=false` and `rosbag play` the bag file to produce RGB-D point cloud on-the-fly. The produced RGB-D point cloud `/camera/depth_registered/points` can be correctly visualized in rviz. I would like to use this produced RGB-D point cloud as the input of the `ethzasl_icp_mapper`. The roslaunch file for `ethzasl_icp_mapper` is as follows, When the bag is palying, errors occur as follows. terminate called after throwing an instance of 'tf2::ConnectivityException' what(): Could not find a connection between 'camera_rgb_optical_frame' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees. I then tried suppress the `tf` topic of `openni_launch` using `roslaunch openni_launch openni.launch load_driver:=false publish_tf:=false`, another error accurs. terminate called after throwing an instance of 'tf2::LookupException' what(): "camera_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist. Your help will be appreciated. Thank you.