Who provides the Map Frame?

Finding hard to understand what node provides the map frame > odom for navigation
(using ros2)

What I have is

  • My other frames, odom > base_link > (branches to camera, lidar, encoders, ect.)
  • MyMap.yaml

I run a map server which provides a /map topic
I have my robot TFs, correct topics /odom, /scan
Run ACML node but cant do anything because it doesnt provide a map frame either

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