Use PoseStamped rather than Pose for set_base_frame. Otherwise using set_base_frame results in the robot having a nameless reference frame, which causes tf to reject the base frame transform:
Error: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "PSM3" from authority "/dvrk_1659992630125592185" because frame_id not set
Use PoseStamped rather than Pose for set_base_frame. Otherwise using set_base_frame results in the robot having a nameless reference frame, which causes tf to reject the base frame transform: