No map received SLAM Toolbox

I want to use SLAM Toolbox (https://github.com/SteveMacenski/slam_toolbox) but I get a WARNING: No map received in RVIZ.

• In the config file, I define base_frame as base_footprint
• I publish Odometry (without velocities, just position) to topic /odom
• I provide transform: odom->base_footprint
• I publish to topic /scan
• I run:

ros2 launch slam_toolbox online_sync_launch.py

rviz2

RESULT:

• In rviz I add /map topic, no map received

• In console with slam_toolbox I got only following warning:

[sync_slam_toolbox_node-1] [INFO] [1661430634.973317229] [slam_toolbox]: Message Filter dropping message: frame 'cloud' at time 1650563651.362 for reason 'discarding message because the queue is full'

Questions

1. Should I be receiving a map or have I missed something?

2. Could not providing a transform for the scanner frame be the issue?

   Warning, transforms and rqt graph follows:

Warrning

Frames transforms

Rqt graph

EDIT

odom->base_footprint was static transform, now it is set properly

1. It should not work
2. Transform for scanner frame is necessary