problems adding urdf frames to odom->base_link

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I'm trying to use the slam_gmapping with my mobile robot but I'm having some troubles with the TF.

Firstly I created the robot driver so that it could broadcast the odom->base_link->base_laser (stamped) trasform and everything worked fine.

Problems came when I decided to add static frames to the TF tree. I'd like to use the URDF of my robot through the robot_state_publisher package and let the driver only broadcast the odom->base_link transform putting the definition of the base_laser on the URDF. Even if with view_frames all the frames are correctly linked, the TF tree seems broken. In fact on rviz I can't use odom as fixed frame because there's no trasform between odom and the other frames defined on the URDF.

Reading other questions, I understood that it's probably a synchronization problem but I did'n find any solution to this...so, please, help me! :)