Problem with Gmapping and P2os [closed]

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Hi im new in ros and i just want to use gmapping to create a map with a kinect and a pioneer 3xd. Im using the p2os which provides a /tf transform and /odom with the name /pose, and im using openni_camera_deprecated with a pointcloud_to_laserscan to obtain the /scan form the kinect. The problem i have is that im publishin /tf and /scan as the slam_gmapping needs it but i get the following error

MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

i have a perfect map->odom->base_link->openni_cammera_deprecated transforms but i still cant get gmapping to work, is anybody could help me it would be great