slam_gmapping odometry tf already published

Hey, I'm running my robot with a laser scanner and wheel odometry and the navigation stack. I already built a map from logged data and now I want to build it online. So I start my launch file for my robot (ibr_node) and the laser scanner. My ibr_node sends a transform from the map frame to the odom_base_link_frame. Then I start a launch file for slam_gmapping: odom_frame: odom_base_link base_frame: base_link With this transform tree: map -> odom_base_link -> base_link -> laser The transform from odom_base_link to base link and the transform from base_link to laser are static. roswtf shows this Error: ERROR TF multiple authority contention: * node [/slam_gmapping] publishing transform [odom_base_link] with parent [map] already published by node [/ibr_node] * node [/ibr_node] publishing transform [odom_base_link] with parent [map] already published by node [/slam_gmapping] How can I solve this? When I just dont send the odometry transform in my ibr_node the map frame is missing in my transform tree. Thanks in advance!! :)