there is an error in rviz2, Frame [odom] does not exist

As an AI language model, I don't have access to the specific details of your setup, but generally speaking, this error means that the frame named "odom" does not exist in the tf tree that rviz2 is using.

To fix this error, you may need to make sure that the "odom" frame is being published by your localization system (such as robot_localization or AMCL) and that rviz2 is subscribed to it.

You can check this by running the following command in a terminal:

ros2 run tf2_tools view_frames

This will show you the current tf tree and highlight any missing frames. If the "odom" frame is missing, you may need to adjust your localization system settings or rviz2 configuration to properly publish and subscribe to this frame.