Cartographer not working with CARLA

[SirMichcik]

Hi, i am having trouble launching cartographer slam with my CARLA setup. Does anyone know how shoud i configure it in order to work?
I am using:
Ubuntu 20.04
Carla 0.9.13 with UE4
carla-ros-bridge

I am using this launch file in order to start ROS:
carla_ros_bridge_with_example_ego_vehicle.txt

Those are my_robot.lua and my_robot.launch files from cartographer:
my_robot_launch.txt
my_robot_lua.txt

The cartographer is giving me the message:
[ WARN] [1732630486.324395565, 553.984745188]: W1126 15:14:46.000000 49155 tf_bridge.cc:52] Could not find a connection between 'ego_vehicle/imu' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[ WARN] [1732630486.645541654, 554.184745191]: Could not compute submap fading: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

That's my rqt_tf_tree:

And thats my RVIZ visualisation:

Im not expierenced enough to fully understand the problem, so any help would be appreciated.