diff --git a/rtabmap_odom/src/nodelets/stereo_odometry.cpp b/rtabmap_odom/src/nodelets/stereo_odometry.cpp
index 6a91743a..84a1ced0 100644
--- a/rtabmap_odom/src/nodelets/stereo_odometry.cpp
+++ b/rtabmap_odom/src/nodelets/stereo_odometry.cpp
@@ -500,49 +500,6 @@ void StereoOdometry::commonCallback(
 						return;
 					}
 					else
-					{
-						stereoTransform = rtabmap_conversions::getTransform(
-								rightCameraInfos[i].header.frame_id,
-								leftCameraInfos[i].header.frame_id,
-								leftCameraInfos[i].header.stamp,
-								tfBuffer(),
-								waitForTransform());
-						if(stereoTransform.isNull())
-						{
-							RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get TF between the two cameras! (between frames %s and %s)",
-									Parameters::kRtabmapImagesAlreadyRectified().c_str(),
-									rightCameraInfos[i].header.frame_id.c_str(),
-									leftCameraInfos[i].header.frame_id.c_str());
-							return;
-						}
-						else if(stereoTransform.isIdentity())
-						{
-							RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! "
-									"Identity transform returned between left and right cameras. Verify that if TF between "
-									"the cameras is valid: \"rosrun tf tf_echo %s %s\".",
-									Parameters::kRtabmapImagesAlreadyRectified().c_str(),
-									rightCameraInfos[i].header.frame_id.c_str(),
-									leftCameraInfos[i].header.frame_id.c_str());
-							return;
-						}
-					}
-				}
-
-				rtabmap::StereoCameraModel stereoModel = rtabmap_conversions::stereoCameraModelFromROS(leftCameraInfos[i], rightCameraInfos[i], localTransform, stereoTransform);
-
-				if( stereoModel.baseline() == 0 &&
-					alreadyRectified &&
-					!rightCameraInfos[i].header.frame_id.empty() &&
-					!leftCameraInfos[i].header.frame_id.empty())
-				{
-					stereoTransform = rtabmap_conversions::getTransform(
-							leftCameraInfos[i].header.frame_id,
-							rightCameraInfos[i].header.frame_id,
-							leftCameraInfos[i].header.stamp,
-							tfBuffer(),
-							waitForTransform());
-
-					if(!stereoTransform.isNull() && stereoTransform.x()>0)
 					{
 						static bool warned = false;
 						if(!warned)
@@ -576,7 +533,7 @@ void StereoOdometry::commonCallback(
 					{
 						RCLCPP_ERROR(this->get_logger(), "Parameter %s is false but we cannot get a valid TF between the two cameras! "
 								"Identity transform returned between left and right cameras. Verify that if TF between "
-								"the cameras is valid: \"rosrun tf tf_echo %s %s\".",
+								"the cameras is valid: \"ros2 run tf2_ros tf_echo %s %s\".",
 								Parameters::kRtabmapImagesAlreadyRectified().c_str(),
 								rightCameraInfos[i].header.frame_id.c_str(),
 								leftCameraInfos[i].header.frame_id.c_str());