"Fixed frame [map] does not exist" for default display_zed2.launch file

I’m trying to get floor alignment to work to no avail. When I launch default rviz visualization roslaunch zed_display_rviz display_zed2.launch I get global status error saying that [map] frame does not exist. I know I can switch to base_link and visualize the point cloud. However this is not what I’m after. I need camera to correctly detect floor plane and provide transform from base_link or camera_center to map (using odometry). I’m a little confused on why default RViz example does not provide map or odom tf publishers.
I enabled floor alignment in params/zed2.yaml file and this is the console output:

[ INFO] [1636650035.554796016]: Initializing nodelet with 16 worker threads.
[ INFO] [1636650035.563932727]: ********** Starting nodelet '/zed2/zed_node' **********
[ INFO] [1636650035.563974480]: SDK version : 3.6.1
[ INFO] [1636650035.564014605]: *** GENERAL PARAMETERS ***
[ INFO] [1636650035.564302738]:  * Camera Name			-> zed2
[ INFO] [1636650035.564652849]:  * Camera Resolution		-> HD720
[ INFO] [1636650035.564939580]:  * Camera Grab Framerate	-> 30
[ INFO] [1636650035.565116067]:  * Gpu ID			-> -1
[ INFO] [1636650035.565348882]:  * Camera ID			-> -1
[ INFO] [1636650035.565576127]:  * Verbose			-> DISABLED
[ INFO] [1636650035.566028060]:  * Camera Flip			-> DISABLED
[ INFO] [1636650035.566423521]:  * Self calibration		-> ENABLED
[ INFO] [1636650035.566781965]:  * Camera Model by param	-> zed2
[ INFO] [1636650035.566793136]: *** VIDEO PARAMETERS ***
[ INFO] [1636650035.566990274]:  * Image resample factor	-> 1
[ INFO] [1636650035.567155647]:  * Extrinsic param. frame	-> X RIGHT - Y DOWN - Z FWD
[ INFO] [1636650035.567166681]: *** DEPTH PARAMETERS ***
[ INFO] [1636650035.567330357]:  * Depth quality		-> PERFORMANCE
[ INFO] [1636650035.567494115]:  * Depth Sensing mode		-> STANDARD
[ INFO] [1636650035.567660128]:  * OpenNI mode			-> DISABLED
[ INFO] [1636650035.567826199]:  * Depth Stabilization		-> ENABLED
[ INFO] [1636650035.567994944]:  * Minimum depth		-> 0.3 m
[ INFO] [1636650035.568161899]:  * Maximum depth		-> 20 m
[ INFO] [1636650035.568328525]:  * Depth resample factor	-> 1
[ INFO] [1636650035.568339276]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1636650035.568645606]:  * Positional tracking		-> ENABLED
[ INFO] [1636650035.568807786]:  * Path rate			-> 2 Hz
[ INFO] [1636650035.568967792]:  * Path history size		-> 1
[ INFO] [1636650035.569291448]:  * Odometry DB path		-> 
[ INFO] [1636650035.569588701]:  * Spatial Memory		-> ENABLED
[ INFO] [1636650035.569882537]:  * IMU Fusion			-> ENABLED
[ INFO] [1636650035.570176120]:  * Floor alignment		-> ENABLED
[ INFO] [1636650035.570470349]:  * Init Odometry with first valid pose data -> ENABLED
[ INFO] [1636650035.570762522]:  * Two D mode			-> DISABLED
[ INFO] [1636650035.571056668]: *** MAPPING PARAMETERS ***
[ INFO] [1636650035.571396395]:  * Mapping			-> DISABLED
[ INFO] [1636650035.571407028]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1636650035.571729886]:  * Object Detection		-> DISABLED
[ INFO] [1636650035.571739760]: *** SENSORS PARAMETERS ***
[ INFO] [1636650035.571922162]:  * Sensors timestamp sync	-> DISABLED
[ INFO] [1636650035.571931508]: *** SVO PARAMETERS ***
[ INFO] [1636650035.572290630]:  * SVO input file: 		-> 
[ INFO] [1636650035.572512257]:  * SVO REC compression		-> H265 (HEVC)
[ INFO] [1636650035.572807666]: *** COORDINATE FRAMES ***
[ INFO] [1636650035.573978463]:  * map_frame			-> map
[ INFO] [1636650035.573990033]:  * odometry_frame		-> odom
[ INFO] [1636650035.574017887]:  * base_frame			-> base_link
[ INFO] [1636650035.574027088]:  * camera_frame			-> zed2_camera_center
[ INFO] [1636650035.574039477]:  * imu_link			-> zed2_imu_link
[ INFO] [1636650035.574054277]:  * left_camera_frame		-> zed2_left_camera_frame
[ INFO] [1636650035.574063930]:  * left_camera_optical_frame	-> zed2_left_camera_optical_frame
[ INFO] [1636650035.574073801]:  * right_camera_frame		-> zed2_right_camera_frame
[ INFO] [1636650035.574084955]:  * right_camera_optical_frame	-> zed2_right_camera_optical_frame
[ INFO] [1636650035.574097455]:  * depth_frame			-> zed2_left_camera_frame
[ INFO] [1636650035.574110508]:  * depth_optical_frame		-> zed2_left_camera_optical_frame
[ INFO] [1636650035.574123769]:  * disparity_frame		-> zed2_left_camera_frame
[ INFO] [1636650035.574136953]:  * disparity_optical_frame	-> zed2_left_camera_optical_frame
[ INFO] [1636650035.574149858]:  * confidence_frame		-> zed2_left_camera_frame
[ INFO] [1636650035.574162971]:  * confidence_optical_frame	-> zed2_left_camera_optical_frame
[ INFO] [1636650035.574634968]:  * Broadcast odometry TF	-> ENABLED
[ INFO] [1636650035.575082403]:  * Broadcast map pose TF	-> ENABLED
[ INFO] [1636650035.575419764]:  * Broadcast IMU pose TF	-> ENABLED
[ INFO] [1636650035.575432818]: *** DYNAMIC PARAMETERS (Init. values) ***
[ INFO] [1636650035.575615304]:  * [DYN] Depth confidence	-> 50
[ INFO] [1636650035.575793900]:  * [DYN] Depth texture conf.	-> 100
[ INFO] [1636650035.576003278]:  * [DYN] pub_frame_rate		-> 15 Hz
[ INFO] [1636650035.576199887]:  * [DYN] point_cloud_freq	-> 15 Hz
[ INFO] [1636650035.576368969]:  * [DYN] brightness		-> 4
[ INFO] [1636650035.576532480]:  * [DYN] contrast		-> 4
[ INFO] [1636650035.576693189]:  * [DYN] hue			-> 0
[ INFO] [1636650035.576853146]:  * [DYN] saturation		-> 4
[ INFO] [1636650035.577010648]:  * [DYN] sharpness		-> 4
[ INFO] [1636650035.577165668]:  * [DYN] gamma			-> 8
[ INFO] [1636650035.577342849]:  * [DYN] auto_exposure_gain	-> ENABLED
[ INFO] [1636650035.577819297]:  * [DYN] auto_whitebalance	-> ENABLED
[ INFO] [1636650035.580006002]:  * Camera coordinate system	-> Right HANDED Z UP and X FORWARD
[ INFO] [1636650035.580066256]:  *** Opening ZED 2...
process[rviz-4]: started with pid [13972]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1636650035.640578005]: rviz version 1.13.4
[ INFO] [1636650035.640621180]: compiled against Qt version 5.9.5
[ INFO] [1636650035.640653585]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1636650035.647216038]: Forcing OpenGl version 0.
[ZED][Sensors] MCU module not responding. Attempt module reboot
[ZED][MCU] Permissions denied : can't open device. Make sure you have installed udev rules or use sudo
[ INFO] [1636650036.029504196]: Stereo is NOT SUPPORTED
[ INFO] [1636650036.029589416]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1636650036.224382318]: ZED connection -> SUCCESS
[ INFO] [1636650038.224520503]:  ...  ZED ready
[ INFO] [1636650038.224546147]: ZED SDK running on GPU #0
[ INFO] [1636650038.232971942]: Camera-IMU Transform: 
 561DD3146138
1.000000 0.000000 0.000000 0.000000
0.000000 1.000000 0.000000 0.000000
0.000000 0.000000 1.000000 0.000000
0.000000 0.000000 0.000000 1.000000

[ INFO] [1636650038.233004011]:  * CAMERA MODEL	 -> ZED 2
[ INFO] [1636650038.233068951]:  * Serial Number -> 28845337
[ INFO] [1636650038.233088898]:  * Camera FW Version -> 1523
[ INFO] [1636650038.233107786]:  * Sensors FW Version -> 0
[ INFO] [1636650038.320103694]: Advertised on topic /zed2/zed_node/rgb/image_rect_color
[ INFO] [1636650038.320150919]: Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1636650038.336849233]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
[ INFO] [1636650038.337127417]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1636650038.354461606]: Advertised on topic /zed2/zed_node/left/image_rect_color
[ INFO] [1636650038.354881090]: Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1636650038.371793986]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color
[ INFO] [1636650038.372090806]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1636650038.382967325]: Advertised on topic /zed2/zed_node/right/image_rect_color
[ INFO] [1636650038.382989152]: Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1636650038.392375769]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color
[ INFO] [1636650038.392416551]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1636650038.401974082]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray
[ INFO] [1636650038.401994474]: Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1636650038.410713922]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
[ INFO] [1636650038.410732783]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1636650038.419540823]: Advertised on topic /zed2/zed_node/left/image_rect_gray
[ INFO] [1636650038.419555151]: Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1636650038.428841867]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
[ INFO] [1636650038.428863063]: Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1636650038.438055153]: Advertised on topic /zed2/zed_node/right/image_rect_gray
[ INFO] [1636650038.438074828]: Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1636650038.447033995]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
[ INFO] [1636650038.447052136]: Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1636650038.455934564]: Advertised on topic /zed2/zed_node/depth/depth_registered
[ INFO] [1636650038.455951011]: Advertised on topic /zed2/zed_node/depth/camera_info
[ INFO] [1636650038.464508507]: Advertised on topic /zed2/zed_node/stereo/image_rect_color
[ INFO] [1636650038.473427623]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
[ INFO] [1636650038.474027069]: Advertised on topic /zed2/zed_node/confidence/confidence_map
[ INFO] [1636650038.474347806]: Advertised on topic /zed2/zed_node/disparity/disparity_image
[ INFO] [1636650038.474620903]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
[ INFO] [1636650038.474972710]: Advertised on topic /zed2/zed_node/pose
[ INFO] [1636650038.475283709]: Advertised on topic /zed2/zed_node/pose_with_covariance
[ INFO] [1636650038.475587719]: Advertised on topic /zed2/zed_node/odom
[ INFO] [1636650038.475915041]: Advertised on topic /zed2/zed_node/path_odom
[ INFO] [1636650038.476211012]: Advertised on topic /zed2/zed_node/path_map
[ INFO] [1636650038.476648835]: Advertised on topic /zed2/zed_node/imu/data
[ INFO] [1636650038.476961955]: Advertised on topic /zed2/zed_node/imu/data_raw
[ INFO] [1636650038.477254908]: Advertised on topic /zed2/zed_node/imu/mag
[ INFO] [1636650038.477552908]: Advertised on topic /zed2/zed_node/temperature/imu
[ INFO] [1636650038.477843454]: Advertised on topic /zed2/zed_node/atm_press
[ INFO] [1636650038.478094744]: Advertised on topic /zed2/zed_node/temperature/left
[ INFO] [1636650038.478340286]: Advertised on topic /zed2/zed_node/temperature/right
[ INFO] [1636650038.478619189]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1636650038.481732648]: *** Starting Positional Tracking ***
[ INFO] [1636650038.481748931]:  * Waiting for valid static transformations...
[ INFO] [1636650038.481797638]: Static transform Sensor to Base [zed2_left_camera_frame -> base_link]
[ INFO] [1636650038.481810924]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1636650038.481820584]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1636650038.481835767]: Static transform Sensor to Camera Center [zed2_left_camera_frame -> zed2_camera_center]
[ INFO] [1636650038.481844386]:  * Translation: {0.000,-0.060,0.000}
[ INFO] [1636650038.481856959]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1636650038.481879748]: Static transform Camera Center to Base [zed2_camera_center -> base_link]
[ INFO] [1636650038.481894834]:  * Translation: {0.000,0.000,0.000}
[ INFO] [1636650038.481905842]:  * Rotation: {0.000,-0.000,0.000}
[ INFO] [1636650038.582007961]: Initial ZED left camera pose (ZED pos. tracking): 
[ INFO] [1636650038.582037149]:  * T: [0,0.06,0]
[ INFO] [1636650038.582051017]:  * Q: [0,0,0,1]
[ WARN] [1636650038.697563146]: Odometry will be published as soon as the floor as been detected for the first time
[ INFO] [1636650038.733025697]: Odometry aligned to last tracking pose