robot_pose_ekf and AMCL

Hi! I have my own robot that works on odometry and lidar using **AMCL**. Everything works perfectly. After that, I decided to use **robot_pose_ekf** to improve data. I use the MPU6050 sensor and odometry from wheels data for this. /robot_pose_ekf/odom_combined give me a data. But I encountered such a problem that I do not know how to connect the robot_pose_ekf package to my the ready system with the AMCL. I searched the Internet, and did not find the information. In which files do I need to make changes to connect robot_pose_ekf? In launch file I wrote. But navigation does not work. The terminal gets out of error. Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.100751 timeout was 0.1 Here is fragment of my original tf tree of working system, without robot_pose_ekf. [Without robot_pose_ekf](https://drive.google.com/file/d/0B_AbvNqvPPw1bC1WeXppbDVFNVE/view?usp=sharing) With robot_pose_ekf graph is the same exept frame called not "odom" but "odom_combined" and published by robot_pose_ekf.