In 3.3, cam_bot_odom_to_tf_pub_late_tf_fixed.py source is placed two times in the material.
The two version is a bit different in its structure, but they are doing the same.
The second one has more comment but the first one is cleaner, that uses a method to get header data.
However the second one contains the part that is used in the explanation.
Please consider to delete the first one.
Thank you in advance